Proceedings of the

1990 AMERICAN CONTROL CONFERENCE

The Sheraton Harbor Island Hotel, San Diego, California

May 23-25, 1990

Sponsoring Organization

American Automatic Control CouncilU.S. National Member Organization of the

INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL

MEMBER SOCIETIES

American Institute of Aeronautics and AstronauticsAmerican Institute of Chemical EngineersAmerican Society of Mechanical Engineers

Association of Iron and Steel EngineersInstitute of Electrical and Electronics Engineers

Instrument Society of AmericaSociety for Computer Simulation

This page begins

Volume 2

May 23,1990

lNRDRMAT!O;-ivXMeUGrHEK I

8:15-8:30 (I)Practical Lessons in the Design andImplementation of Real-Time, Plan-BasedSupervisory Process ControlsPaul Houpt, General Electric Corporation R&D

8:30-8:45 (I) *Neural Networks and AdaptationKumpati S. Narendra, Yale University

8:45-9:00 (I) *The Role of Models in Machine IntelligenceGuillermo Rodriguez, California Institute of Technology

9:00-9:15 (I) 988Memory-Based Learning in Intelligent ControlSystemsChristopher G. Atkeson, Mass. Institute of Technology

9:15-9:30 (I) 989Intelligent Controller for a Two-Axis CameraVision PlatformYilmaz E. Sahinkaya, Lockheed Palo Alto Research Lab

THURSDAY MORNINGMAY 24,1990

TA1: CheninPERTURBATION ANALYSIS OF DISCRETE EVENT

DYNAMIC SYSTEMS

Organizer Michael C. Fu, University of MarylandChairman: Michael C. Fu, University of MarylandCo-Chairman: Xi-Ren Cao, Digital EquipmentCorporation

8:30-9.00 (D 1011Some Linear Algebraic Formulas of thePerformance Sensitivities of Queueing NetworksXi-Ren Cao, Digital Equipment Corporation

9:00-9:30 (I) 1017Derivative Calculation Through Matrix-GeometricSolution MethodWei-Bo Gong, University of Massachusetts, Jic Pan,University of Massachusetts, Christos Cassandras,University of Massachusetts

9:30-10:00 (I) 1022Convergence of Recursive OptimizationAlgorithms Using IP A Derivative EstimatesE. K. Chong, Princeton University, P. J. Ramadge,Princeton University

10:00-10:30 (I) 1028Strong Consistency of Infinitesimal PerturbationAnalysis for Networks with Correlated ServiceTimesYorai Wardi, Georgia Institute of Technology, Jian-QiangHu, Harvard University

10:30-11:00 (I) 1034Using Uniformization for Derivative Estimation inSimulationPirooz Vakili, Boston University

11.00 -11:30 (I) »Sample Path Analysis of Level Crossings inQueuesMichael Zasards. Northwestern University

11:30-11:45 (I) 1040Variance Properties of Second DerivativePerturbation Analysis Estimators for Single-ServerQueuesMichael Fu, University of Maryland, Jian-Quang Hu,Harvard University

TA2: ColombardCONTROL APPLICATIONS TO FUNCTIONAL

ELECTRICAL STIMULATION

Organizer: Grazyna A. Pajunen, Florida AtlanticUniversityChairman: Grazyna A. Pajunen, Florida AtlanticUniversityCo-Chairman: William K. Durfee, MassachusettsInstitute of Technology

8:30-9.00 (I) *Challenges to Control Theory in the Restoration ofParalyzed Muscle Function via ElectricalStimulationH. J. Chizeck, Case Western Reserve University

9:00-9:30(1) *Progress in the EMG Control of FunctionalElectrical Stimulation in ParaplegicsDaniel Groupe, University of Illinois at Chicago

930-10:00 (I) 1042Linear and Nonlinear Approaches to Control ofSingle Joint Motion by Functional ElectricalStimulationWilliam K. Durfee, Mass. Institute of Technology, Daniel J.DiLorenzo, Mass. Institute of Technology

10:00-1030 (I) 1048Modeling FES Actuation and Control ofMultisegment Limb MovementsGary T. Yamaguchi, Arizona State University, Felix E.Zajac, Stanford University

1030-10:45 (I) 1054Control Issues for Postural Regulation at theHuman AnkleR. J.Jaeger, Illinois Institute of Technology

10:45-11:15 (I)Selection of Stimulation Output Specificationsbased on Recruitment Characteristics of ImplantedElectrodesDonald McNeal, Rancho Rehabilitation EngineeringProgram, L. L. Baker, University of Southern California,W. Tu, Rancho Rehabilitation Engineering Program, M.A.M.Robben,Twente University

11:15-11:30(1) 1056An Improved Nonlinear Model for On-LineApplication of Functional Electrical StimulationGrazyna A. Pajunen, Florida Atlantic University, WarrenPrice, Florida Atlantic University, Ravi Shankar, FloridaAtlantic University, Leon E. Smith, Florida AtlanticUniversity

TA3: PolomarADAPTIVE CONTROL SYSTEMS II

Chairman: C. R. Johnson, Cornell UniversityCo-Chairman: J. Walls, Auburn University

8:30-9:00 1058A New Approach for Solving Model ReferenceAdaptive Control Problems for Fast Time-VaryingUnknown Plants with Relative Degree OneL.-C. Fu, National Taiwan University, C.-J Chien, NationalTaiwan University

9:00-9:30 1064Nonlinear Interactions Between Signals andParameters in Robust Adaptive ControlG. J. Rey, Cornell University, C. R. Johnson, CornellUniversity, R.R. Bitmead, Australian National University

9:30-10:00 1070Reduced Order Adaptive Observation withNonspecific Adaptive LawJ. H. Lilly, University of Louisville

10:00-10:30 1076Adaptive Robust Control Scheme Applied to aSingle-Zone HVAC SystemY.H. Chen, Georgia Institute of Technology, K.M. Lee,Georgia Institute of technology, WJ. Wepfer, GeorgiaInstitute of Technology

10:30-10:45 1082Active Control of the Gamma-Ray Imaging Device(GRID) Experiment A Linear Adaptive ApproachJ. Walls, Auburn University, M. Greene, AuburnUniversity

10:45-1100 1084Covariance Reset - A Solution to Filter Divergencein Estimation with a Sinusoidal MeasurementX. Qin, Stanford University

11:00-11:15 1086The Application of a Class of Adaptive ControlAlgorithms to Hydraulic ServosystemsS. Ananthakrishnan, McDonnell Douglas Astronautics Co.,R- Fullmer, Iowa State University

11:15-1130 1088An Implicit Quadratic H«, Self-Tuning ControllerK-A. Hashim, University of Strathclyde, M-J- Grimble,University of Strathclyde

11:30-11:45 1091An Approach to Adaptive Control of Continuous-Time Systems Using Multiple Parallel PredictiveModelsT. H. Lee, National University of Singapore, E. K. Koh,National University of Singapore

11:45-12.00 1093Direct Determination of Controller Parameters inAdaptive Pole PlacementE. W. Kamen, University of Pittsburgh

12:00-12:15 1095Adaptive Regulation of a Class of NonminimumPhase Systems with Full Cauchy IndexR. Ortega, National University of Mexico

TA4: San Diego and San FernandoMANUFACTURING PROCESSES CONTROL

Organizer: Yoram Koren, The University of MichiganChairman: Yoram Koren, University of MichiganCo-Chairman: Jeffrey Stein, University of Michigan

8:30-9:00 (I) 1097Robust Nonlinear Control of Positioning Systemswith StictionMasayoshi Tomizuka, University of California, Berkeley,A. Jabbari, University of California, Berkeley, T.Sakaguchi, University of California, Berkeley

900-930 (I) 1103Time Optimal Contour Tracking for Machine ToolControllersF. Imamura, Rensselaer Polytechnic Institute, HowardKaufman, Rensselaer Polytechnic Institute

9:30-10:00 a)Modeling and Control of Gas-Metal Arc WeldingDavid E. Hardt, Mass. Institute of Technology, M. Hale,Mass. Institute of Technology

10:00-10:15 (I) 1109Performance Evaluation of a State and InputObserver for Machine DiagnosticsY. Park, The New Jersey Institute of Technology, JeffreyStein, The University of Michigan

10:15-1030 0) 1113Identification of the Normal Force Response toFeed Input in a Turning OperationR. Furness, The University of Michigan, A. Galip Ulsoy,The University of Michigan

1030-1100 (I) " 1 5Adaptive Pole Placement Force Control of EndMillingFrancis M. Kolarits, The Torrington Company, WarrenDeVries, Rensselaer Polytechnic Institute

1100-1130 (I) 1121Sliding Mode Controller for Force ConstrainedCutting ProcessXiao-Nan Luo, University of Minnesota, Q. Zhang,Renault Automotive, Inc.

TA5: San Antonio and Santa BarbaraDIGITAL CONTROL

Chairman: J. D. Foweil, Stanford UniversityCo-Chainnan: P. Kabdmba, University of Michigan

8:30-9.00 1127A New Approach to the Discretization ofContinuous-Time ControllersJ. P. Keller, Australian National University, B. D. O.Anderson, Australian National University

9:00-9:15 1133Generalized Sampled State Hold FunctionsApplied to Feedback Control of Non PeriodicLinear SystemsJ. Whitesell, Michigan State University

9:15 - 9:45 1137Sample Rate Effects on Disturbance Rejection forDigital Control SystemsH. Hirata, Stanford University, J. D. Powell, StanfordUniversity

9:45 -10:15 1145Towards Less Conservative Stability Criterion forDiscrete-Time Linear Uncertain SystemsK. Gu, Oakland University, W. J. Chai, OaklandUniversity, N. K. Loh, Oakland University

10:15-10:45 1150Analysis and Design of Repetitive Control SystemsUsing the Regeneration SpectrumK. Srinivasan, Ohio State University, F.R. Shaw, Ohio StateUniversity

10:45-11:00 1156A Frequency Domain Design Method of Sampled-Data CompensatorsH. H. Niemann, Technical University of Denmark, O.Jannerup, Technical University of Denmark

11.00-11:15 1159Robust Schur-Stability of Discrete-Time IntervalPlantsA. Katbab, University of Miami, E. I. Jury, University ofMiami

11:15-11:30On Computing the Induced Norm of SampledData SystemsP. Kabamba, The University of Michigan, S. Hara, TokyoInstitute of Technology

11:30-11:45 1162On the Spurious Zeros of Discrete-TransferFunctionsK. Diekmann, Ruhr University of Bochum, K. H. Fasol,Ruhr University of Eochum, S. Jayasuriya, Texas A & MUniversity, M. Rabins, Texas A & M University

11:45-12:15 1164Stabilization of Uncertain Discrete Systems byObserver Bassd ControllersJ.-C. Shen, National Cheng Kung University, B.-S. Chen,National Tsin Hua University, F. C. Kung, National ChengKung University

TA6; San CarlosCONTROL OF NONLINEAR MECHANICALSYSTEMS; THEORY AND APPLICATIONS

Organizer j . Bentsman, University of Illinois atUrbana-ChampaignChairman: J. Bentsman, University of IllinoisCo-Chairman: C. J. Radcliffe, Michigan State University

830-9:00 (I) 1168Output Tracking of Nonlinear Systems withUncertaintiesS. Behtash, University of California, Berkeley, S. M.Shahruz, University of California, Berkeley

9:00-9:30 (I) 1.174Sliding Compensators for a Class of NonlinearSystemsS. Raghavan, University of California, Berkeley, J. K.Hedrick, University of California, Berkeley

9:30-10:00 (I) I180

On the Stability and Estimation of UltimateBoundedness of Nonlinear/Uncertain DynamicSystems with Bounded ControllersMehrez Hached, Purdue University, S. Mehdi Madani-Esfahani, Purdue University, Stanislaw H. Zak, PurdueUniversity

10.00-10:30 (I) 1186

Stable Adaptive TeleoperationGunter Niemeyer, Mass. Institute of Technology, J. J-E.Slotine, Mass. Institute of Technology

10:30-11.00 (I) n 9 2

Exact Linearization with ConfigurationOptimizationP. Hsu, University of Illinois

11:00-1130 (I) 1198

Properties of Stick-Slip Friction Models whichPromote Limit Cycle GenerationClark J. Radcliffe, Michigan Stale University, Steve C.Southward, Michigan State University

1130-11:45 (I) l 2 0 4

Parameter Estimation Using Nonlinear ObserverTheoryS. A. 3ortoff, University of Illinois, Mark W. Spong,University of Illinois

11:45-12:00 (I) l 2 0 6

Control of Steam Generation ProcessesJ. Bentsman, University of Illinois, N. R. Miller, Universityof Illinois, D. Drake, University of Illinois, Jamel Fakhfa**'University of Illinois, Thomas Jolly, University of Illinois

TA7: CuyamacaMODELLING AND CONTROL OF FLEXIBLE

MANIPULATOR ARMS

Chairman: J. H. Park, Massachusetts Institute ofTechnologyCo-Chairman: F. D. Chichester, New Jersey Institute ofTechnology

830-900 1208A Vertical-Plane Motion Control of anElectrohydraulically-Acruated Single-Flexible-LinkArmL.- W. Chang, Naval Postgraduate School, K.S. Park,Naval Postgraduate School

9:00-930 1214Implementation of a Vertical-Plane MotionControl of an Electrohydraulically-AcruatedSingle-Flexible-Link-ArmL.-W. Chang, Naval Postgraduate School, M. Kirkland,Naval Postgraduate School

9:30 -10:00 1220Design and Analysis of Flexible Arms forMinimum-Phase Endpoint ControlJ.H. Park, M.I.T., H Asada, M.I.T.

10:00-1030 1226Extension of a Rigid Link Model of a Robot Arm toa Flexible Link ModelF. D. Chichester, New Jersey Institute of Technology, G. A.Downes, New Jersey Institute of Tech.

10:30-10:45 1232Dynamics Identification of a Flexible Robot UsingMultichannel Nonlinear SystemsA. Krzyzak, Concordia University, J. Sasiadek, CarletonUniversity

10:45-11:15 1237Distributed Modal Identification and VibrationControl of Continua: Theory and ApplicationsH.S. Tzou, University of Kentucky

11:15-11:45 1244Distributed Modal Identification and VibrationControl of Continua: Piezoelectric Finite ElementFormulation and Analysis.H.S. Tzou, University of Kentucky, C.I. Tseng, Universityof Kentucky

11:45-12:15 1250Optimal Decision Control for Robot with SeriesCompliance and Bounded InputsK. Y. Lee, The Pennsylvania State University, A. J. de laTorre, The Pennsylvania State University, R. W. Beekman,General Motors Institute

TA8: ChardonnayMODELLING AND DESIGN OF MECHANICAL

SYSTEMS AND ROBOTS

Chairman: N. G. Chalhoub, Wayne State UniversityCo-Chairman: M. Lynch, Tulane University

830-900 1256On the Modeling and Simulation of FrictionD.A. Haessig, Plessey Electronic Systems Corp., B.Friedland, New Jersey Instituti of Tech.

9.O0-930 1262Dynamic Model and Response of RobotManipulators with Joint IrregularitiesR.J. Chang, National Cheng Kung University, T.C. Jiang,National Cheng Kung University

9:30 - 9:45 1270Effect of a Self-Locking Drive Mechanism on thePerformance of a Flexible Robot ArmN.G. Chalhoub, Wayne State University, A.G. Ulsoy,University of Michigan

9:45-10:15 1272Velocity Control of a Manipulator Joint DrivenThrough a Worm Gear TransmissionS. Jayasuriya, Texas A&M University, D.C. May, TexasA&M University, B.W. Mooring, IBM

10:15 -10:45 1279Selection of Optimal Axis Configurations in aRobot PathA. Gunta, Carnegie-Mellon University, M. Lynch, TulaneUniversity

10:45-11:15 1286Structure of the Minimum-Time Control Law forMultiple Robot Arms Handling a Common ObjectY. Chen, The George Washington University

11:15-11:45 1292Mechanically Induced Path Deviations in anIndustrial Parallelogram RobotP. De Smet, Wayne State University, E.I. Rivin, WayneState University, Y. Lou, Wayne State University

TA9: LagunaSPACE SYSTEMS CONTROL

Chairman: J. Sunkel, NASA JSCCo-Chairman: Irving A. Hirsch, Boeing Aerospace andElectronics

830-8:45 1298A Space Station/Pay load Pointing SystemSimulation Using TREETOPSM. Ram, Fairchild Space Company, M. Shamma, FairchildSpace Company

8:45-9.00 1302Optimizing Scanning Mirror System PerformanceUsing Solid State Piezoelectric ActuatorsM. G. Harris, University of Central Honda, R. J. Martin,Actran Systems, Inc., T. J. Tomasetti, Martin MariettaCorporation

9.00-9:15 1305Precision Instrument Pointing Control for theEarth Observing SystemL. Robeck, CalTech Jet Propulsion Laboratory, D.Rathbun, CalTech Jet Propulsion Laboratory, D. Lehman,CalTech Jet Propulsion Laboratory

9:15-9:45 1314Satellite Stabilization Using Space LeechesM. W. Walker, University of Michigan, D.-M. Kim,University of Michigan

9:45-10:15 1320A Computational Algorithm for Spacecraft Controland Momentum ManagementJ. Dzielski, Pennsylvania State University, E. Bergmann,Charles Stark Draper Laboratory, Inc., J. Paradiso, CharlesStark Draper Laboratory, Inc.

10:15 -10:45 1326Robust Stabilization of Linear Systems in thePresence of Unbounded Uncertain Parameters withApplications to Yaw Stabilization of a SatelliteS. K. Biswas, Temple University

10:45 -11:15 1332Total Energy Control System Autopilot Designwith Constrained Parameter OptimizationC.T. Voth, University of Washington, Uy-Loi Ly,University of Washington

11:15-11:30 1338Modeling and Stability of Segmented ReflectorTelescopes: A Decentralized ApproachH. A. Ryaciotaki-Boussalis, California State University, C-H. C. Ih, Jet Propulsion Laboratory

TA10: CabernetADVANCED CONTROL OF ACTIVE SUSPENSION

SYSTEMS ;-. ;

Organizer D. Dan Cho, Princeton UniversityChairman: Robert H. Fries, Failure Analysis AssociatesCo-Chairman: A. Matthew Karmel, Ford MotorCompany

830-900 (I) 1340Application of Model References Adaptive Controlto Active Suspension SystemsMyoungho Sunwoo, GM Research Laboratories, K. C.Cheok, Oakland University, N. J. Huang, OaklandUniversity

9.00-9:30 (I) 1347Stability Robustness of LQG Active SuspensionsA. Galip Ulsoy, University of Michigan, Davor Hrovat,Ford Motor Company

9:30-10:00 (I) 1357Low-Bandwidth Semi-Active Damping forSuspension ControlRobin Redfield, Texas A & M University

1000-1030 (I) 1363Analysis of Control Issues for a Flexible One-HalfCar Suspension ModelWilliam N. Patten, University of Oklahoma, Rao M.Chalasani, General Motors Corporation, David S. Allsup,University of Oklahoma, John B. Blanks, University ofOklahoma

1030-1100 (I) 1369A Suspension Model of an Offroad VehicleUtilizing an Automated Procedure Based UponKane's Dynamical EquationR. C. Quirt, Queen's University, R. J. Anderson, Queen'sUniversity

11:00-1130 (I) 1375Multi-body Modeling of Suspension Kinematicsfor Control DesignV. N. Sohoni, Mechanical Dynamics, Inc., L. Duchnowski,Ford Mortor Company, J. R. Winkelman, Ford MotorCompany

TA11: GamayESTIMATION APPLICATIONS

Chairman: Moshe Kam, Drexel UniversityCo-Chairman: Robert Fischl, Drexel University

8:30-8:45 1381Predicting the Position of an Agile TargetD. Sworder, University of California at San Diego, R.G.Hutchins, Orincon Corp.

8:45-9:15 1383On Optimal Filtering and Detection of Echoes inLaser-Based Aerial Bathymetric SurveyingT. Jurand, Drexel University, M. Kam, Drexel University,R. Fischl, Drexel University

9:15-9:45 1389Consistent Estimation of Spacecraft SensorAlignmentsM. D. Shuster, Johns Hopkins University Applied PhysicsLab, D.S. Pitone, Computer Sciences Corp. Corporation

9:45-10:15 / 1396Estimation of Physical Parameters for DynamicProcesses with Application to an Industrial RobotR. Isermann, Technical University of Darmstadt

10:15-10:45 1402A Practical Technique for Spectral Analysis ofNonlinear Systems Under Stochastic Parametricand External ExcitationsR.J. Chang, National Cheng Kung University

10:45-11:15 . 1409The Implementation of an Algorithm forTemperature Estimation in a Rotary DryerB. F. Lund, SINTEF Automatic Control, T.S. Schei, SINTEFAutomatic Control, H. Mordt, A/S Norsk Leca

11:15-11:30 1414Titration Curve Estimation for Adaptive pHControlM. Gulaian, Bailey Controls Company, J. D. Lane, BaileyControls Company

1130-11:45 1420Optimal Control of a Shallow Running TorpedoM. J. Seidl, Royal Naval Engineering College, B. A. Stacey,Royal Naval Engineering College

TA12: Reisling

CONTROL / STRUCTURE INTERACTION GUESTINVESTIGATOR PROGRAM

Organizer Jerry Elliott, NASA Langley ResearchCenterChairman: Rudeen Smith-Taylor, NASA LangleyResearch CenterCo-Chairman: Jerry R. Newsom, NASA LangleyResearch Center

830-9:00 (I) 1422Failure Detection and Isolation Experiments withthe Langley Mini-MastWallace E. Vander Velde, Mass. Institute of Technology,Christiaan M. Van Schalkwyk, Mass. Institute ofTechnology

9:00-9:30 (I) 1428Active Structural Control Design and Experimentfor the Mini-MastBong Wie, Arizona State University, Lucas Horta, NASALangley Research Center, Jeff Sulla, NASA LangleyResearch Center

9:30 -10:00 (I) 1435Closed Loop Lab Tests of NASA's Mini-MastC. Hsieh, Purdue University, J. Kim, Purdue University,Robert E. Skelton, Purdue University

10:00-10:15 (I) 1441Practical Experience with Identification of LargeFlexible StructuresRandall J. Allemang, University of Cincinnati, S. Shelley,University of Cincinnati, D. L. Brown, University ofCincinnati, Q. Zhang, University of Cincinnati

10:15-1030 (I) 1445Practical Experience with Multivariable PositivityControllersGary Slater, University of Cincinnati, A. Bosse, Universityof Cincinnati, Q. Zhang, University of Cincinnati

10:30-11:00 (I) 1449Design and Implementation of RobustDecentralized Control Laws for the ACESStructure at Marshall Space Flight CenterEmmanuel G. Collins, Harris Aerospace Systems Division,Douglas J. Phillips, Harris Aerospace Systems Division,David C. Hyland, Harris Aerospace Systems Division

11:00-1130 (I) *Experience with Robust Control Design forFlexible Structures Using the ACES ExperimentalFacilityJohn C. Doyle, California Institute of Technology

TA13: RoseINTELLIGENT AND FUZZY CONTROL

Chairman: K. G. Shin, University of MichiganCo-Chairman: A. V. Sebald, University of California

8:30-9.00 1455An Improved Qualitative ControllerB. Abdulmajid, University of Manchester, UK, R. J.Wynne, University of Manchester, UK

9:00-9:30 1461Design of a Knowledge-Based Controller forIntelligent Control SystemsK. G. Shin, University of Michigan, X. Cui, University ofMichigan

9:30-10:00 1467An Intelligent Rule-Based Compensator forControl System Input NonlinearitiesM. Marcos, Universidad del Pais Vasco, Spain, P. E.Wellstead, Control Systems Center UMIST, U.K.

10:00-1030 1474Fuzzy Control of a Three Fin TorpedoA. R. T. Jones, Royal Naval Eng. College, B. A. Stacey,Royal Naval Eng. College, R. Sutton, Royal Naval Eng.College, U.K.

10:30-11.00 1479Nonlinear Fuzzy Control Based on the VectorFields of the Phase Portrait Assignment AlgorithmH. Kang, Georgia Institute of Technology, G.Vachtsevanos, Georgia Institute of Technology

1100-1130 1485An Optimization Approach for Fuzzy ControllerDesignS. Isaka, University of California at San Diego, A. V.Sebald, University of California at San Diego

11:30-11:45 1491Fuzzy Logic Controller to a Steam GeneratorFeedwater FlowG. V. S. Raju, Ohio University, J. Zhou, Ohio University,R. Kisner, Oak Ridge National Lab.

TA14: SauvignonTIME-DELAYED AND PERIODIC CONTROL

SYSTEMS

Chairman: D. Jordan, University of ConnecticutCo-Chairman: D. S. Flamm, Princeton University

830-9.O0 1493Observer Design for Non-Lexicographic-FixedTime-Varying Continuous SystemsW. Chai, Oakland University, N.K. Loh, OaklandUniversity, H. Hu, Oakland University

9.00-9:15 1499On Extreme Point Results for Time Delay SystemsJ. Ackermann, German Aerospace Research organization,DLR, H. Hu, German Aerospace Research organization,DLR, C V. Hollot, University of Massachusetts, R. Tempo,CENS/-CNR Politecnico Di Torino

9:15-9:45 1502Multirate Systems Performance Evaluation UsingSingular Value AnalysisI <? AtwrtniaVis IJnivprsUvnfrVwiruvtimf T"> T<w1an

9:45 -10:15 1510A New Shift-Invariant Representation for PeriodicLinear SystemsD. S. Flamm, Princeton University

10:15-10:30 1516Feedforward Tracking Controller for SystemsContaining Time Delays in Both State and ControlVariablesD. H. Chyung, University of Iowa

10:30-1100 1518Generalized Nyquist Stability Criterion for LinearTime Periodic SystemsS. R. Hall, Massachusetts Institute of Technology, N. M.Wereley, Massachusetts Institute of Technology

11:00-11:15 1526Torque Ripple Reduction in Three-Phase SwitchedReluctance MotorsR. S. Wallace, Georgia Institute of Technology, D. G.Taylor, Georgia Institute of Technology

LUNCHEON: Cuyamaca/Laguna

12:00Flight Testing and Flight Research: From theWright Brothers to the Space ShuttleRichard P. Hallion, Air Force Systems Command

THURSDAY AFTERNOONMAY 24,1990

TPl:CheninPROCESS IDENTIFICATION: NEW DEVELOPMENT

AND APPLICATIONS

Organizer , M. N. Karim, Colorado State UniversityChairman: M. N. Karim, Colorado State UniversityCo-Chairman: Sten Bay Jorgensen, Instituttet forKemiteknik

2:30-3.00 (I) 3116Identification of Distillation Process DynamicsComparing Process Knowledge Based and BlackBox Based ApproachesK. H. Rasmussen, Technical University of Denmark, C. S.Nielsen, Technical University of Denmark, Sten BayJorgensen, Technical University of Denmark

3:00-330(1) 1528Experimental Design of Fermentations for ModelIdentificationVolker C. Hass, Institut fur Biosystemtechnik, AxelMunack, Institut fur Biosystemtechnik

330-400 (I) 1534Process Identification using NonlinearProgramming TechniquesPhani B. Sistu, Rensselaer Polytechnic Institute, B. WayneBequette, Rensselaer Polytechnic Institute

4:00-4:30 (I) 1540On-Line Identification of a Variable SamplingPeriod Discrete Model and its Application to theAdaptive Control of Anaerobic DigestionJ. Harmon, University of Florida, P. Pullammanappallil,University of Florida, S. A. Svoronos, University ofFlorida, G. Lyberatos, University of Florida, D.Chynoweth, University of Florida

4:30-5.00 (I)Population Balance Model for the OscillatoryBehavior in a Continuous BioreactorChing-I Chen, University of California at Davis, KarenMcDonald, University of California at Davis

5:00-5:30 (I) 1546On Order-Reduction of Nonlinear Differential-Algebraic Process ModelsH. P. Loeffler, Universitat Stuttgart, W. Marquardt,Universitat Stuttgart, FRG

TP2: ColombardDISTRIBUTED PARAMETER SYSTEMS

Chairman: S. E. Burke, C.S. Draper LaboratoryCo-Chairman: C. D. Mote, University of California atBerkeley

2:30-3:00 1552Shape Control of Distributed Parameter Systems:Modelling and Performance AnalysisS. E. Burke, 555 Technology Square, J. E. Hubbard, Jr., C. S.Draper Laboratory, Inc.

3:00-330 1558Frequency Domain Vibration Control ofDistributed Gyroscopic SystemsB. Yang, University of Southern California, C. D. Mote, Jr.,University of California at Berkeley

330-400 1564Controllability and Observability of DistributedGyroscopic SystemsB Yang, University of Southern California, C. D. Mote, Jr.,University of California at Berkeley

4:00-430 1570Robust Stabilization in the Gap Metric ControllerDesign for Distributed PlantsT. T. Georgiou, University of Minnesota, M. C. Smith, TheOhio State University

4:30-500 , .1576An Averaging Approach to Optimal AdaptiveControl of Large Space StructuresD. S. Bayard, California Institute of Technology

500-530 1583Controller Design for Unstable Distributed PlantsH. Ozbay, University of Rhode Island, M. C. Smith, OhioState University, A. Tannenbaum, University of Minnesota

530-600 1589Distributed Parameter Control Systems Synthesis:An Iterative ApproachN. E. Wu, State University of New York at Binghamton

6:00-6:15 15%Energy Equivalent ExpansionN. Patel, GE Astro Space, A. Yousuff, Drexel University

TP3: PolomarADAPTIVE PROCESS CONTROL

Organizer Christos Georgakis, Lehigh UniversityChairman: Won-Kyoo Lee, Ohio State UniversityCo-Chairman: Paul H. Gusciora, Chevron Corporation

2:30-3:00 (I) 1599Practical Experiences of Adaptive TechniquesKarl J. Astrom, Lund Institute of Technology, T.Hagglund, Lund Institute of Technology

3:00-330 (I) 1607Nonminimal Model Based Long Range PredictiveControlW. Lu, University of Alberta, D. Grant Fisher, Universityof Alberta

330-4:00 (I) 1614An Adaptive Nonlinear Predictive ControllerJ. D. Morningred, University of California, Santa Barbara,B. G. Paden, University of California, Santa Barbara, D. E.Seborg, University of California, Santa Barbara, D. A.Mellichamp, University of California, Santa Barbara

4:00-4:30 (I) 1620Multivariable Constrained Generalized PredictiveControl: A Comparison with QDMCD. J Wilkinson, University of Newcastle-Upon-Tyne, A. J.Morris, University of Newcastle-Upon-Tyne, M. T. Tham,University of Newcastle-Upon-Tyne

4:30-5:00 (I) 1626On the Use of Linear Programming to SolveAdaptive Predictive Control ProblemsC K. Finn, University of Massachusetts, B. Erik Ydstie,University of Massachusetts

5:00-530 1632Supervision and Coordination of Parameter-Adaptive ControllersT. Knapp, Technical University of Darmstadt, R. Isermann,Technical University of Darmstadt

TP4; San Diego and San FernandoBATCH PROCESS CONTROL

Organizer C. G. Georgakis, Lehigh UniversityChairman: L. T. Biegler, Carnegie Mellon UniversityCo-Chairman: E. Zafiriou, University of Maryland

230-3.O0 (I) *Application of Observer Using DifferentialInformation to Bench-Scale ReactorH. A. Preisig, University of New South Wales, D.W.T.Rippin, Swiss Federal Institute of Technology

300-3:30(1) 1638On the Analytical Computation of OptimalTrajectories for Batch ReactorsJ. C. Kantor, Notre Dame University

330-400 (I) 1644Optimal Control of Semi-Batch Processes in thePresence of Modeling ErrorEvanghelos Zafiriou, University of Maryland, J. M. Zhu,University of Maryland

400-4:30 (I) 1650Modeling, Estimation and Control of PolymerComposite ProcessingKathryn A. Soucy, University of Washington, Bradley R.Holt, University of Washington

4:30-4:45 (I) 1656Simultaneous Model Identification and Control ofa Semi-Batch Chemical ReactorE. S. Meadows, University of Texas, J. B. Rawlings,University of Texas

4:45-5:00 (I) 1658Dynamic Modeling of Batch and Semi-ContinuousProcesses Using BATCHESSteven M. Clark, Batch Process Technologies, Inc., KamalKuriyan, Batch Process Technologies, Inc.

5:00-5:30 (I)Supervisory Control of Batch PlantsS. Macchietto, Imperial College of Science & Tech., B. J.Cott, Imperial College of Science & Tech.

TP5: San Antonio and Santa BarbaraADVANCED EIGENSTRUCTURE DESIGN

METHODS

Organizer R. J. Patton, University of YorkChairman: R. J. Patton, University of YorkCo-Chairman: S. K. Spurgeon, LoughboroughUniversity of Technology

2:30-300 (I) 1660Pole Placement Extensions for MultivariableSystems - A SurveyS. K. Spurgeon, Loughborough University of Technology

300-3:30 (I) 1666A Numerical Approach to Pole Assignment byOutput FeedbackJ. F. Magni, CERT/DERA, France

330-400 (I) 1672The Use of Deflation in Eigenstructure Assignmentof Descriptor SystemsG. S. Miminis, Memorial University of Newfoundland

4.O0-430 (I)Robust Eigenstructure Assignment UnderRestricted PerturbationsJ. Kautsky, Hinders University of S. Australia, N. K.Nichols, University of Reading

4:30-500 (I) 1678Optimal Eigenstructure Assignment for MultipleDesign ObjectivesS. Burrows, University of York, R. J. Patton, University ofYork

5.00-5:15 1684New Pole Placement Algorithm: PolynomialMatrix ApproachB. Shafai, Northeastern University, L. H. Keel, TennesseeState University

5:15-5:30 1686A Pole-Placement Control Design forNonminimum-Phase Systems with Input andOutput ConstraintsG. Pajunen, Florida Atlantic University, M. Ahmadvand,University of California, D. R. Wada, University ofCalifornia, D. S. Ward, University of California

TP6: San CarlosTHE ROLE AND LIMITATIONS OF LINEAR

MODELS IN NONLINEAR CONTROL PROBLEMS

Organizer Michael K. Sain, University of Notre DameChairman: Michael K. Sain, University of Notre DameCo-Chairman: Panos J. Antsaklis, University of NotreDame

2:30-3:00 (I) 1688Analytical Framework for Gain SchedulingWilson J. Rugh, The Johns Hopkins University

3:00-330 (I) •Application of Brunowsky Forms in Multi-ModeFlight ControlGeorge Meyer, NASA Ames Research Center

330-4:00 (I) 1695On Coordinated Feedforward Excitation ofNonlinear ServomechanismsPatrick M. Sain, University of Notre Dame, Michael K.Sain, University of Notre Dame, A. N. Michel, Universityof Notre Dame

4:00-4:30 (I) 1701On Control Systems Described by a Class ofNonlinear Differential-Algebraic Equations: StateRealizations and Local ControlN. Harris McQamroch, The University of Michigan

4:30 -5O0 (I) 1707Local Regulation of Nonlinear DynamicsHarry G. Kwatny, Drexel University, William H. Bennett,Techno-Sciences, Inc., Jordan Berg, Drexel University •

500-530 (D 1713Adaptive Control Design for a Class of NonlinearSystemsI. Kanellakopoulos, University of Illinois Urbana-Champaign, P. V. Kokotovic, University of IllinoisUrbana-Champaign, R. Marino, II University Di Roma

530-600 . 1718Predictive Control of Nonlinear Systems Based onExtended LinearizationH. Sun, Shanghai Jiao-ton University, Y.-G. Xi, ShanghaiJiao-ton University, S.-J. Shi, Shanghai Jiao-ton University,Z.-J. Zhang, Shanghai Jiao-ton University

TP7: CuyamacaEXPERIMENTS IN THE CONTROL OF FLEXIBLE

MANIPULATORS

Organizer Glenn Widmann, Colorado State UniversityChairman: Glenn Widmann, Colorado State UniversityCo-Chairman: Eric Schmitz, Martin MariettaAstronautics

2:30-3:00 (I) 1723Robust Controller Application to FlexibleManipulatorsE. M. Nebot, PLAPIQUI, Argentina, A. Desagues,PLAPIQUI, Argentina, J. Romagnoli, PLAPIQUI,Argentina, Glenn R. Widmann, Colorado State University

300-3:15 (I) 1729LQR Design for an Experimental Planar ElasticArm with a Large Tip PayloadM. F. Ramey, Martin Marietta Astronautics Group, EricSchmitz, Martin Marietta Astronautics Group

3:15-3:45(1) 1733A Single-Axis Testbed for Slewing ControlExperimentsJonathan Hamilton, North Carolina State University,Gordon K.F. Lee, North Carolina State University, Jer-nanJuang, NASA Langley Research Center

3:45-4:15 (I) 1738Experimental Verification of Command ShapingMethods for Controlling Residual Vibration inFlexible RobotsNeil C. Singer, Convolve, Inc., Warren P. Seering, MIT

4:15-4:45 (I) 1745Formulation of an Improved Set of WeightingFunctions for H«> Control of Flexible Beam-likeSystemsR. Michael Stoughton, Martin Marietta Space Systems Co.

4:45-5:15 (I) 1752End-Point Controller Design for an ExperimentalTwo-Link Flexible Manipulator Using ConvexOptimization TechniquesC. M. Oakley, Stanford University, C. H. Barratt, StanfordUniversity

5:15-5:45 (I)Design of Force/Torque Control for Flexible,Microgravity Manipulators in LaboratoryEnvironmentC.J.Hwang, Lockheed Engineering and SciencesCompany, T. K. Nguyen, Lockheed Engineering andSciences Company

5:45-6:15 (I) 1760Reduced-Order Model Based Control of LargeFlexible Manipulators: Theory and ExperimentsBrian T. Reisenauer, University of Colorado-Boulder,Mark J. Balas, University of Colorado-Boulder, M. Ramey,Martin Marietta Astronautics Group

TP8: ChardonnayROBOT KINEMATICS, DYNAMICS AND CONTROL

Chairman: K. D. Valavanis, Northeastern UniversityCo-Chairman: N. S. Bedrossian, C.S. DraperLaboratory, Inc.

2:30-2:45 1766Near-Time-Optimal Control of a RobotManipulator Using New ApproximationTechniquesG. Heinzinger, University of California at Berkeley, P.Jacobs, LAAS-CNRS, J. Canny, University of California atBerkeley, B. Paden, University of California at SantaBarbara

2:45-3:15 1768Solutions to Point-to-Point Control ProblemsUsing Laplace Transform TechniqueS. P. Bhat, University of California at Los Angeles, D. K.Miu, University of California at Los Angeles

3:15-3:45 1774An Asymptotic Observer for Solving the InverseKinematic ProblemA. Tornambe, Fondazione Ugo Bordoni

3:45 - 4:15 1780Geometric Approach Inverse Kinematics of theRTX Robot: Geometric Approach and the Solutionof Non-UniquenessY. Song, University of Ghent, R. M. C. De Keyser,University of Ghent

4:15-4:45 1786Direct Inversion of Rigid-body RotationalDynamicsR. Bach, NASA Ames Research Ctr., R. Paielli, NASAAmes Research Ctr.

4:45-5:15 1792Control Theory and Transformation Methods inClassical MechanicsN. S. Bedrossian, The Charles Stark Draper Laboratory,Inc.

5:15-5:45 1798Efficient Plan Formulation and Organization forRobotic Assemblies and Intelligent RoboticSystemsK. P. Valavanis, Northeastern University, S. J. Carelo,Northeastern University

5:45-6:15 1804Force Control for Robotic Rigid Disk GrindingB. J. Ulrich, McMaster University, L. Liu, McMasterUniversity, M. A. Elbestawi, McMaster University, A.K.Srivastava, McMaster University

TP9: LagunaAEROSPACE VEHICLE GUIDANCE AND

TRAJECTORY OPTIMIZATION - II

Organizer D. D. Moerder, NASA Langley ResearchCenterChairman: D. B. Price, NASA Langley Research CenterCo-Chairman: D. D. Moerder, NASA Langley ResearchCenter

2:30-300 (D *Stochastic Trajectory Shaping Guidance forAerospace Plane AscentDaniel D. Moerder, NASA Langley Research Center, E. M.Queen, NASA Langley Research Center, K. E. Dutton,NASA Langley Research Center

3:00-330(1) *Robust Perturbation Guidance Applied to theAdvanced Launch SystemJason L. Speyer, The University of Texas, D. Chichka, TheUniversity of Texas

3:30-400(1) 1811Hypersonic Vehicle Air Data Collection:Assessing the Relationship Between the Sensorand Guidance and Control System RequirementsPhilip D. Hattis, The Charles Stark Draper Lab., Inc.

400-430(1) 1819A Singular Perturbation Approach to Pitch-LoopDesignEugene M. Cliff, Virginia Polytechnic Institute and StateUniversity

4:30-500 (I) 1824An Approach to Optimal Guidance of anAdvanced Launch Vehicle ConceptMartin S. Leung, Georgia Institute of Technology,Anthony J. Calise, Georgia Institute of Technology

5:00-530 (I) 1829Aerospace Plane Guidance Using GeometricControl TheoryMark A. Van Buren, Princeton University, Kenneth D.Mease, Princeton University

530-600 (I) 1839A Neural Net Approach to Space Vehicle GuidanceAlper K. Caglayan, Charles River Analytics, Inc., S. M.Allen, Charles River Analytics, Inc.

TP10: CabernetADVANCED CONTROL TECHNIQUES FOR

AUTOMOTIVE SYSTEMS

Organizer D. Dan Cho, Princeton UniversityChairman: Patrick Usoro, General Motors ResearchLabsCo-Chairman: A. Matthew Karmel, Ford MotorCompany

2:30-3:00 (I) 1843Application of Self-tuning to Automotive CruiseControlM. Tsujii, Nippondenso Company, H. Takeuchi,Nippondenso Company, K. Oda, Nippondenso Company,M. Ohba, Nippondenso Company

3:00-3:30 (I) . 1849Adaptive Control of Automotive TransmissionsK. Glitzenstein, University of California, J. Karl Hedrick,University of California

3:30-4:00 (I) *Emerging Trends in Tire Slip Regulation SystemsPrakash Shrivastava, GM Technical Center, RaoChalasani, GM Technical Center

4:00-4:30 (I) 1856An Adaptive Sliding Mode Vehicle TractionController DesignHan-Shue Tan, Hughes Aircraft Company, MasayoshiTomizuka, University of California, Berkeley

4:30-5:00 (I) 1862Investigation of a Combined Slip Control Brakingand Closed Loop Four Wheel Steering System forAutomobiles During Combined Gard Braking andSevere Steering ManeuversS. Taheri, Clemson University, E. Harry Law, ClemsonUniversity

5.00-5:30 (I) 1868Vehicle Lateral Velocity and Yaw Control WithTwo Independent Control InputsNaoki Matsumoto, Nippondenso Co., MasayoshiTomizuka, University of California

530-6.O0 1876Continuous Identification of a Four Stroke SIEngineH Melgaard, Technical University of Denmark, E.Hendricks, Technical University of Denmark, E. Madsen,Technical University of Denmark

6:00-630 1882Mean Value SI Engine Model for Control StudiesE. Hendricks, Technical University of Denmark, S. C.Sorenson, Technical University of Denmark

TP11: GamayIDENTIFICATION

Chairman: S. Hall, Massachusetts Institute ofTechnologyCo-Chairman: A. J. Helmicki, Georgia Institute ofTechnology

2:30-300 1888Parametric System Identification on LogarithmicFrequency Response DataM. D. Sidman, Digital Equipment Corporation, F. E.DeAngelis, Martin Marietta, G. C. Verghese, MIT

3.00-3:30 1893Identification in Hoo: The Continuous-Time CaseA. J. Helmicki, Georgia Institute of Tech., C. A. Jacobson,Northeastern University., C. N. Nett, Georgia Institute ofTechnology

3:30-3:45 1899Adaptive Frequency Response Identification Usingthe Lagrange FilterY. Tang, National University of Mexico, FJ. Capistran,National University of Mexico

3:45-400 1901Corrector Least Squares (CLS) IdentificationAlgorithm for Adaptive ControlI. Sadighi, Montana State University, D. A. Pierre,Montana State University

400-4:15 1905Parameter Identification of a Class of NonlinearSystem via Piecewise Multiple LegendrePolynomialsY. Z. Hu, East China University of Chemical Technology,Z.G. Ge, East China University of Chemical Technology

4:15-430 1907An Identification-Based Matched Filtering Methodfor Fault DetectionM. Barkesseh, Oakland University, N. Kheir, OaklandUniversity

4:30 -5O0 1909Model Quality in Recursive Identification of Time-Varying Systems with ARX StructureS. Gunnarsson, Linkoping University

5:00-5:15 1915Discrete Bilinear System Identification andControl ;

R. R. Mohler, Oregon State University, X. Yang, OregonState University, Z. Tang, Oregon State University

5:15-5:45 , 1917State-Disturbance Composite Observer for BilinearSystemsY. Q. Ying, University of Alberta, M. Rao, University ofAlberta, S. Sun, Zhejiang University

TP12: ReislingADVANCES IN FLEXIBLE SPACECRAFT CONTROL,

Organizer Suresh M. Joshi, NASA Langley ResearchCenterChairman: D. K. Lindner, Virginia PolytechnicUniversityCo-Chairman: Y. P. Kakad, University of NorthCarolina

230-300 (I) 1923Collocated Versus Non-Collocated MultivariableControl of Flexible StructuresG. J. Balas, University of Minnesota, J. C. Doyle, CaliforniaInstitute of Technology

3:00-3:30 (I) 1929Power Flow, Energy Balance, and Statistical EnergyAnalysis for Large-Scale Interconnected SystemsDavid C. Hyland, Harris Corporation, Dennis S. Bernstein,Harris Corporation

3:30-4:00 (I) 1935Optimal Controllers for Finite WordlengthImplementationK. Liu, Purdue University, R. E. Skelton, PurdueUniversity

4:00-430 (I) 1941Sensor/Actuator Placement for Flexible SpaceStructuresP. G. Maghami, NASA Langley Research Center, S. M.Joshi, NASA Langley Research Center

430-5:00 (I) 1949Slew Maneuvers of Large Flexible SpacecraftY. P. Kakad, University of North Carolina at Charlotte

500-530 (I) 1955Dissipative Compensators for Flexible SpacecraftControlSuresh M. Joshi, NASA Langley Research Center, PeimanG. Maghami, NASA Langley Research Center

5:30-6:00 1962Modeling of Actuator-Structure Interaction in theSlewing of Flexible StructuresE. Garcia, State University of New York at Buffalo, D.J.Inman, State University of New York at Buffalo

TP13: RoseEXPERT SYSTEM APPLICATIONS IN THE PROCESS

INDUSTRIES

Organizer M. N. Karim, Colorado State UniversityChairman: R. L. Leah, Gensym CorporationCo-Chairman: N. Marsolan, International Paper

2:30-3:00 (I) 1968An Expert System to Perform On-Line ControllerTuningJonathan Iitt, Lewis Research Center

3O0-330 (I) 1974A Knowledge Based Approach to MalfunctionDiagnosis of Discrete Operations InvolvingProgrammable Logic ControllersDouglas Myers, Ohio State University, James Davis, OhioState University, Charles Hurley, Westvaco

3:30-4:00 (I) 1980Flexible Control of an Organic Matrix CompositeCure Process Using Object Oriented ControlConceptsRichard Manzini, Alcoa Technical Center, Edwin Roehl,Alcoa Technical Center

4O0-430 (I) 1986Knowledge-Based Control SystemsKarl-Erik Arzen, Lund Institute of Technology

4:30-5:00(1) 1992A Real Time Knowledge Based System for theOperation and Control of a Fermentation PlantM. Aynsley, University of New Castle Upon Tyne, A. G.Hofland, University of New Castle Upon Tyne, G. A.Montague, University of New Castle Upon Tyne, D. Peel,University of New Castle Upon Tyne, A. J. Morris,University of New Castle Upon Tyne

5:00-5:15(1) 1998Fielded Applications of the LINKman ExpertControl SystemJ. C. Taunton, Sira Ltd., T. A. Potts, Sira Inc., D. W. Haspel,Image Automation Ltd.

5:15-5:30 (I) 2000Expert Systems in the Power Industry - A FutureVisionTuula Ruokonen, Imatran Voima Power Company

TP14: SauvignonUNCERTAIN SYSTEMS

Chairman: C. Abdallah, University of New MexicoCo-Chairman: K. Sobel, City College of New York

230-3.O0 2003Representations of Robustly StabilizingControllers for Systems with ParameterUncertaintyT. E. Djaferis, University of Massachusetts, J. Ciolfi,University of Massachusetts3:00-3:30 2009Robust Control of Feedback Systems withCombined Plant and Controller UncertaintyT. T. Georgiou, University of Minnesota, M. C. Smith,Ohio State University

3:30-4.00 2014Robust Modal Control of Distributed-ParameterSystems with UncertaintyY. H. Chen, Georgia Institute of Technology, E. D. Rontek,Syracuse University

400-430 2020Uncertainty EstimatorM.-S. Chen, National Taiwan University

430-500 2025Developments in the Design of MultivariableControllers for the Structural Testing of Systemswith Unknown DynamicsS.Tsavdaras, Loughborough University of Technology, R.W. Pratt, Loughborough University of Technology

500-5:15 2031An Indicator of Interaction for Systems UnderUncertaintyH. A. Latchman, University of Florida, J. A. Letra,University of Florida

5:15-530 2033Nyquist, Bode and Nichols Plots of UncertainSystemsA. C. Bartlett, University of Massachusetts