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Table of Contents

1 Annual report 2009 of DISC ..................................................................................................1

1.1 Introduction ........................................................................................................................1

1.2 Organization ......................................................................................................................1

1.3 Research Program DISC 2009 ..........................................................................................6

1.4 Teaching program ..............................................................................................................7

1.5 Summer School ...............................................................................................................27

1.6 Benelux Meeting ..............................................................................................................32

1.7 DISC PhD Thesis Award 2008 .........................................................................................35

1.8 PhD Theses 2009 ............................................................................................................36

1.9 Awards .............................................................................................................................38

1.10 3TU Centre of Excellence Intelligent Mechatronic Systems ..........................................38

1.11 National MSc programmes ............................................................................................39

1.12 Management report 2009 ..............................................................................................40

1.13 Financial report (in Eur) .................................................................................................42

1.14 UNIT DISC .....................................................................................................................43

Delft University of TechnologyFaculty of Mechanical, Maritime and Materials EngineeringDelft Center for Systems and Control ....................................................................................44

Delft University of TechnologyFaculty: Electrical Engineering, Mathematics and Computer ScienceDepartment: Delft Institute of Applied MathematicsChair: Optimization and Systems Theory ............................................................................100

Delft University of TechnologyFaculty of Aerospace EngineeringControl and Simulation ........................................................................................................104

Eindhoven University of TechnologyDepartment of Mechanical EngineeringDynamics and Control Technology Group ...........................................................................113

Eindhoven University of TechnologyDepartment of Electrical Engineering – Control Systems ....................................................127

University of TwenteControl Engineering .............................................................................................................138

University of Twente – Faculty of Electrical Engineering, Mathematics and ComputerScienceDepartment of Applied MathematicsSystems, Signals and Control Group ...................................................................................157

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University of Twentefaculty of Engineering TechnologyMechanical Engineering DepartmentLaboratory of Mechanical Automation and Mechatronics ....................................................164

University of GroningenIndustrial Technology and Management ..............................................................................171

University of Groningen, Johann Bernoulli Institute for Mathematics and Computer Science,Research Program Systems, Control and Applied Analysis ................................................178

Universiteit MaastrichtFaculty of Humanities and Sciences ....................................................................................187

Tilburg UniversityFaculty of Economics and Business Administration Department of Econometrics andOperations Research ...........................................................................................................191

Wageningen Universiteit.Departement Agrotechnologie en Voedingswetenschappen, leerstoelgroep Meet-, regel-en systeemtechniek .............................................................................................................194

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1 Annual report 2009 of DISC

1.1 Introduction

Research school DISC is an interuniversity research institute and graduate schoolthat unites all academic groups in the Netherlands that are active in systems andcontrol theory and engineering. It offers a nationally organized graduate programmefor PhD students in this field.

Being founded by the Delft and Eindhoven Universities of Technology and theUniversity of Twente, a majority of participants in the school are affiliated with thefaculties of electrical engineering, mechanical engineering, and mathematics of thesethree universities. A large number of other departments and institutes participate inDISC under various agreements.

The ambitions of DISC are:• To provide a PhD programme of high quality and internationally recognized level;• To provide PhD students with a national and international network and to support

them in their development towards independent researchers that are part of theinternational community and whose research is recognized according to internationalstandards;

• To develop the field of systems and control through coordinated research in bothfundamental and technology directed programs, and to represent this field of sciencein national and international networks, consortia and boards;

• To use the position of DISC as center of expertise for dissemination of knowledge onsystems and control theory and engineering in the widest sense.

1.2 Organization

DISC is governed by a board consisting of representatives of the 3TU’s, the otheruniversities, and an external member. The daily operation of DISC is directed by thescientific director, who is assisted by the DISC secretariat.

Board membersProf.dr. F. Eising (UT), chairmanProf.dr.ir. P.P.J. van den Bosch (TU/e-EE), until June 30, 2009Dr. S. Weiland (TU/e-EE), from July 1, 2009Prof.dr. H. Nijmeijer (TU/e-ME)Prof.dr. A.J. van der Schaft (RUG)Prof.dr. C.W. Scherer (TUD)Prof.dr.ir. S. Stramigioli (UT)

Scientific DirectorProf.dr.ir. P.M.J. Van den Hof (TUD)

SecretaryMrs. Agnes van Regteren (TUD), until February 1, 2009Mrs. Saskia van der Meer (TUD), from February 1, 2009

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Contact informationdisc = dutch institute of systems and controlDelft University of TechnologyMekelweg 2 = 2628 CD = DelftTel: +31 (0)15 2785572Fax:+31 (0)15 2786679Email:[email protected]://www.disc.tudelft.nl

The DISC advisory board, composed of leading representatives from industrial,university and institutional bodies, meets once a year with the DISC board to discussissues concerning strategy and policy.

Members Advisory boardProf.dr.ir. J. Vandewalle (KU-Leuven) (chairman)Prof.ir. J.C.M. Baeten (TU/e)

Dr.ir. H. Borggreve (ASML)

Dr.ir. D.A. Schipper (Demcon)

Dr.ir. E.J. Sol (TNO-Industrie en Techniek)

W. Schinkel (Shell), from November 17, 2009

The scientific director is supported by a management team consisting of all headsof DISC departments.

See fig. 1.

Management team

Prof.dr. A.A. Stoorvogel (UT-AM)Prof.dr. J.M. Schumacher (TU-CentER)Prof.dr.ir. J.H. van Schuppen (CWI)Prof. J.M.A. Scherpen (RUG-ITM)Prof.dr.ir. M. Steinbuch (TU/e-ME)Prof.dr.ir. G. van Straten (WU)Prof.dr. H.L. Trentelman (RUG-IWI)Prof.dr.ir. P.M.J. Van den Hof(TUD-DCSC)Prof.dr.ir. M. Verhaegen (TUD-DCSC)

Prof.dr.ir. J. van Amerongen (UT-EE)Prof.dr.ir. P.P.J. van den Bosch(TU/e-EE)Prof.dr.ir. J.B. Jonker (UT-ME)Prof.dr.ir. J.A. Mulder (TUD-AE)Prof.dr. H. Nijmeijer (TU/e-ME)Prof.dr. G.J. Olsder (TUD-DIAM)Dr.ir. R.L.M. Peeters (MU)Prof.dr. A.C.M. Ran (VU)

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Fig. 1. Organizational structure

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Full-time professorsDelft University of Technology

Prof.dr. R. Babuska, MScProf.dr.ir. B. De SchutterProf.dr. C.W. SchererProf.dr.ir. P.M.J. Van denHofProf.dr.ir. M. Verhaegen

Faculty of Mechanical, Maritime andMaterials Engineering;Delft Center for Systems and Control

TUD-DCSC

Prof.dr.ir. A.W. HeeminkFaculty of Electrical Engineering,Mathematics and Computer ScienceDepartment of Applied Mathematics

TUD-DIAM

Prof.dr.ir. J.A. MulderProf.dr.ir. M. Mulder

Faculty of Aerospace EngineeringDepartment of Aerospace Design,Integration & Operations; SectionControl and Simulation

TUD-AE

Eindhoven University of Technology

Prof.dr.ir. M. SteinbuchProf.dr. H. NijmeijerProf.dr.ir. W.P.M.H.Heemels

Department of Mechanical EngineeringSection Dynamics and ControlTechnology,Section Control Systems Technology

TU/e-ME

Prof.dr.ir. P.P.J. van denBoschProf.dr. S. Weiland *

Department of Electrical EngineeringSection Control Systems

TU/e-EE

University of Twente

Prof.dr.ir. J. van AmerongenProf.dr.ir. S. Stramigioli

Faculty of Electrical Engineering,Mathematics and Computer ScienceDepartment of Electrical EngineeringSection Control Engineering

UT-EE

Prof.dr. A.A. StoorvogelProf.dr. A. Bagchi

Faculty of Electrical Engineering,Mathematics and Computer ScienceDepartment of Applied MathematicsSystems, Signals and Control Group

UT-AM

Prof.dr.ir. J.B. JonkerProf.dr. C. De Persis

Faculty of Engineering TechnologyDepartment of Mechanical EngineeringGroup Mechanical Automation andMechatronics

UT-ME

CWI Amsterdam

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Prof.dr.ir. J.H. vanSchuppen

Center for Mathematics and ComputerScienceCluster Modelling, Analysis andSimulationsResearch Group Control and SystemTheory

CWI

VU University Amsterdam - Stieltjes Institute

Prof.dr. A.C.M. RanFaculty of SciencesDepartment of MathematicsSection Mathematical Analysis

VU

University of Groningen

Prof.dr. A.J. van der SchaftProf.dr. H.L. Trentelman

Faculty of Mathematics and NaturalSciencesInstitute of Mathematics andComputing Science

RUG-IWI

Prof.dr.ir. J.M.A. ScherpenFaculty of Mathematics and NaturalSciencesIndustrial Engineering andManagementDepartment of Discrete Technology

RUG-ITM

Maastricht University

Prof.dr.ir. R.L.M. PeetersFaculty of Humanities and ScienceDepartment of Knowledge Engineering

MU

Tilburg University

Prof.dr. J.M. SchumacherFaculty of Economics and BusinessAdministration; CentER - Department

TU

of Econometrics and OperationsResearch

Wageningen University

Prof.dr.ir. G. van StratenDepartment of Agrotechnology andFood Sciences; Systems and ControlGroup

WU

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1.3 Research Program DISC 2009

The research program of DISC consists of fundamental and applied scientific researchin the domain of systems and control theory and engineering. By exploiting thefundamental principle of feedback, control systems enable the realization of high-techsystems in all domains of engineering science with fascinating performance in termsof speed, accuracy, autonomy and adaptability to varying circumstances.

The research domain employs modern techniques from information and computertechnology to analyze, control and optimize dynamical processes, machines and(high-tech) systems. Modelling tools are essential in analyzing and designing optimalcontrol strategies, e.g. by exploiting optimization theory. Mathematical System Theoryprovides insight in the formulation of mathematical models, in the derivation ofmathematical models from experimental data, and in the design of control andfeedback signals.

The orientation towards a variety of technological application domains is importantfor the interplay between theoretical possibilities on the one side, and the urge toadvance high-tech applications on the other side, thereby providing a fruitful stimulusfor further evolution and development of the scientific area.

The research program of DISC is divided in three main areas, each of which containsseveral themes.

• System and control theory• Theory and application of system modelling• Applications of control engineering

The three main areas in the research programme of DISC are further divided intoseveral themes. Within each theme research lines and topics are sketched togetherwith the acronyms of the DISC groups that participate.

1. System and control theory• System theory, nonlinear, distributed, hybrid and embedded systems.• Behavioral systems and control theory (RUG-IWI,UT-AM,TU/e-EE)• Infinite-dimensional systems (UT-AM,WU,TU/e-EE,RUG-IWI)• Hybrid systems (RUG-IWI,CWI,TU/e-ME,TUD-DCSC,UT-AM)• Embedded systems (TU/e-ME, RUG-IWI)• Nonlinear systems and control theory (RUG-ITM,TU/e-ME,TUD-DCSC,RUG-IWI)• Model reduction (RUG-ITM,MU,TU/e-EE)• Control theory for nonlinear, robust, adaptive and optimal control.• Optimization-based control and LMI’s (TUD-DCSC,TU/e-EE)• Distributed sensing and control (TUD-DCSC,TU/e-EE, TU/e-ME)• Adaptive control and learning (TUD-DCSC,TU/e-ME,TUD-AE)• Nonlinear control (TU/e-ME,RUG-IWI)

2. Theory and application of system modelling• System identification, estimation and signal processing; detection and diagnosis• System identification (TUD-DCSC,TU/e-EE,WU,CWI,MU)• Fault detection (TUD-DCSC,TUD-AE)• Parameter and state estimation (TUD-DCSC,WU,TUD-DIAM,TUD-AE)

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• Modelling tools: discrete events, hybrid systems, network theory, variational andgeometric methods, fuzzy logic/neural networks;

• Discrete event and hybrid systems (TU/e-ME,TUD-DCSC,TUD-DIAM,MU)• Fuzzy systems and neural networks (TUD-DCSC)• Physical modelling (RUG-IWI,TUD-DIAM, RUG-ITM)• Financial engineering (TU,UT-AM)

3. Applications of control engineering• Mechatronics, robotics, precision technology, motion control systems, biomedical,

aerospace and transportation systems• Mechatronics (TU/e-ME, TU/e-EE, TUD-DCSC,UT-EE,UT-ME,RUG-ITM)• Aerospace systems (TUD-AE, TUD-DCSC)• Transportation systems (TU/e-EE,TUD-DCSC,TU/e-EE)• Smart optics systems (TUD-DCSC,TU/e-ME)• Automotive systems (TU/e-ME,TUD-DCSC,TU/e-EE)• Robotics (UT-EE,TUD-DCSC,TU/e-ME)• Biomedical systems (TU/e-ME)• Precision tecnology (TU/e-ME,TU/e-EE)• Wind energy systems (TUD-DCSC)• Process control and optimization in (petro)-chemical and agricultural systems; analysis

and control of biological systems• Process control and optimization (TU/e-EE,TUD-DCSC, WU)• Experiment design and monitoring (TUD-DCSC,WU)• Biological systems (CWI,WU,TUD-DCSC,MU,RUG-IWI,RUG-ITM)• Agricultural systems (WU, UT-AM)• Nuclear fusion (TU/e-ME)

A detailed report on the progress of the several research projects within DISC canbe found in chapter 2.

1.4 Teaching program

DISC offers a graduate program in systems and control that leads to a doctor'sdegree of one of the participating universities. The requirements are:

• Completion of a course program of 27 EC credits.• Completion of a doctoral dissertation, to be approved by the adviser and awarded by

one of the participating universities in DISC.

During the academic years 2008-2009 and 2009-2010 a program consisting of seven/ eight courses respectively was offered, as listed in Tables 2 and 3. Classes meetevery Monday during four or eight week terms in a central location in Utrecht. Fullparticipation in an eight weeks course including successful completion of the testsis rewarded with 6 EC. Auditing the eight weeks course provides 1.5 EC. The fourweeks specialized courses are awarded with 3 EC (for only auditing 1 EC).

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Table 2. Courses 2008-2009

Course program 2008-2009

AfternoonMorningDataTerm

Mathematical Models ofSystemsJ.W. PoldermanH.L. Trentelman

System identification forcontrolX. BomboisP.M.J. Van den Hof

1/9Fall 2008

8/9

15/9

22/9

29/9

6/10

13/10

20/10

Design Methods forControl SystemsG. MeinsmaM. Steinbuch

Modeling and Control ofHybrid SystemsB. De SchutterW.P.M.H. Heemels

10/11Winter 2008-2009

17/11

24/11

1/12

Linear Matrix Inequalitiesfor ControlC.W. SchererS. Weiland

15/12

5/1

12/1

19/1

System and ControlTheory of NonlinearSystemsH. NijmeijerA.J. van der Schaft

Distributed ParameterSystemsB. JacobH. Zwart

2/3Spring 2009

9/3

23/3

30/3

6/4

20/4

27/4

4/5

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Table 3. Courses 2009-2010

Course program 2009-2010

AfternoonMorningDataTerm

Mathematical Models ofSystemsJ.W. PoldermanH.L. Trentelman

Flexible Multibody SystemAnalysis for ControlPurposesJ.B. JonkerR.G.K.M. AartsJ. van Dijk

7/9Fall 2009

14/9

21/9

28/9

5/10

12/10

19/10

26/10

Linear QuadraticDifferential GamesJ.C. Engwerda

Fuzzy and Neural ControlR. BabuškaJ. Hellendoorn

16/11Winter 2009-2010

23/11

30/11

7/12

Filtering Algorithms forLarge-scale SystemsA.W. HeeminkR.G. Hanea

Model Predictive ControlA.J.J. van den BoomA.A. Stoorvogel

4/1

11/1

18/1

25/1

System and ControlTheory of NonlinearSystemsH. NijmeijerA.J. van der Schaft

Design Methods for ControlSystemsM. SteinbuchC.W. Scherer

8/3Spring 2010

15/3

22/3

29/3

12/4

19/4

26/4

3/5

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1.4.1 system identification for control (Fall 2008)

lecturersDr.ir. X.J.A. Bombois, Delft University of Technology

Prof.dr.ir. P.M.J. Van den Hof, Delft University of Technology

objectivesSystem Identification concerns the modeling of dynamical systems on the basis ofobserved data. Control Design concerns the design of a controller using a modeldescription of dynamical systems. The objective of this course to presentmethodologies for system identification with a particular emphasis on the questionhow to obtain models that are suited to serve as a basis for control design. In thefirst part of the course, different methods of system identification are presented witha particular focus on prediction error methods. In the second part of the courseattention is given to the question how to identify models that are control-relevant,i.e. that lead to properly designed model-based controllers. This includes issues likeclosed-loop identification and model uncertainty.

contents• Introduction; concepts; discretetime signal and system analysis.• Parametric (prediction error) identification methods – model sets, identification criterion,

bias and variance• Parametric (prediction error) identification methods – model validation, experiment

design and approximate modelling.• Extension on model structures and identification methods• Closed-loop identification• Control-relevant models; iterative performance enhancement• Handling model uncertainty• Experiment-based controller validation

prerequisitesCalculus and linear algebra. Some knowledge of statistics and linear systems theoryand/or time series analysis is helpful, but not required. The lecture notes containuseful summaries of the important notions used during the course.

lecture notesLecture notes will be distributed during the course.

course assessmentThe assessment of this course will be in the form of three homework assignments.

participantsRegistered participants: 29

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1.4.2 mathematical models of systems (Fall 2008 and 2009)

lecturersDr. J.W. Polderman, University of Twente

Prof. dr. H.L. Trentelman, University of Groningen

objectiveThe purpose of this course is to discuss the ideas and principles behind modelingusing the behavioral approach, and to apply these ideas to control system design.In the behavioral approach, dynamical models are specified in a different way thanis customary in transfer function or state space models. The main difference is thatit does not start with an input/output representation. Instead, models are simplyviewed as relations among variables. The collection of all time trajectories which thedynamical model allows is called the behavior of the system. Specification of thebehavior is the outcome of a modelling process.

Models obtained from first principles are usually set-up by tearing and zooming.Thusthe model consist of the laws of the subsystems on the one hand, and theinterconnection laws on the other. In such a situation it is natural to distinguishbetween two types of variables: the manifest variables which are the variables whichthe model aims at and the latent variables which are auxiliary variables introducedin the modelling process. Behavioral models easily accommodate static relations inaddition to the dynamic ones. A number of system representation questions occurin this framework, among others:

• the elimination of latent variables• input/output structures• state space representations

We also introduce some important system properties as controllability andobservability in this setting. In the first part of the course, we review the mainrepresentations, their interrelations, and their basic properties.

In the context of control, we view interconnection as the basic principle of design. Inthe to–be–controlled plant there are certain control terminals and the controllerimposes additional laws on these terminal variables.Thus the controlled system hasto obey the laws of both the plant and the controller. Control design procedures thusconsist of algorithms which associate with a specification of the plant (for example,a kernel, an image, or a hybrid representation involving latent variables) a specificationof the controller, thus passing directly from the plant model to the controller. Weextensively discuss the notion of implementability as a concept to characterize thelimits of performance of a plant to be controlled. We discuss how the problems ofpole-placement and stabilization look like in this setting.

contents• General ideas. Mathematical models of systems. Dynamical systems. Examples from

physics and economics. Linear time-invariant systems. Differential equations.Polynomial matrices.

• Minimal and full row rank representation. Autonomous systems. Inputs and outputs.Equivalence of representations.

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• Differential systems with latent variables. State space models. I/S/O models.• Controllability. Controllable part. Observability.• Elimination of latent variables. Elimination of state variables.• From I/O to I/S/O models. Image representations.• Interconnection. Control in a behavioral setting. Implementability.• Stability. Stabilization and pole placement.

prerequisitesThe course is pretty much self-contained. Basic linear algebra and calculus shouldsuffice.

course materialThe main reference is Introduction to Mathematical Systems Theory: A BehavioralApproach by J.W. Polderman and J.C. Willems (Springer 1998). The last lecture isbased on a paper by M.N. Belur and H.L. Trentelman

examinationFour sets of homework exercises will be handed out during the course. The averagegrade of these four assignments determines the final grade. There is no final exam.

participantsRegistered participants 2008-2009: 24

Registered participants 2009-2010: 21

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1.4.3 modeling and control of hybrid systems (Winter 2008-2009)

lecturersProf.dr.ir. Bart De Schutter, Delft University of Technology

Dr.ir. Maurice Heemels, Eindhoven University of Technology

frameworkRecent technological innovations have caused a considerable interest in the studyof dynamical processes of a mixed continuous and discrete nature. Such processesare called hybrid systems and are characterized by the interaction of time-continuousmodels (governed by differential or difference equations) on the one hand, and logicrules and discrete-event systems (described by, e.g., automata, finite state machines,etc.) on the other. In practice a hybrid system arises when continuous physicalprocesses are controlled via embedded software that intrinsically has a finite numberof states only (e.g., on/off control).

objectivesThis course will offer a brief overview of the field of hybrid systems ranging frommodeling, over analysis and simulation, to verification and control.We will particularlyfocus on modeling, analysis, and control of tractable classes of hybrid systems.

contents• General introduction. Examples of hybrid systems & motivation. Modeling frameworks

(automata, hybrid automata, piecewise-affine systems, complementarity systems,mixed logic dynamical systems,..)

• Properties and analysis of hybrid systems (well-posedness, Zeno behavior, stability,liveness, safety,..)

• Control of hybrid systems (switching controllers, model predictive control, ..)• Control of hybrid systems (continued). Verification. Tools.

prerequisitesBasic undergraduate courses in systems and control. Basic programming skills(Matlab).

lecture notesThe lecture notes will be made available electronically.

homework assignmentsFour homework assignments will be handed out. The assignments will be gradedand the average grade will be the final grade for this course.

course websitehttp://www.dcsc.tudelft.nl/~DISC_hs/course/


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1.4.4 design methods for control systems (Winter 2008-2009 and Spring 2010)

lecturersProf.dr.ir. M. Steinbuch, Eindhoven University of Technology

Prof.dr.ir. G. Meinsma, University of Twente (2008-2009)

Dr. S. Weiland, Eindhoven University of Technology (2009-2010)

objectiveThe course presents "classical," "modern" and "post modern" notions about linearcontrol system design. First the basic principles, potentials, advantages, pitfalls andlimitations of feedback control are presented. An effort is made to explain thefundamental design aspects of stability, performance and robustness.

Next, various well-known classical single-loop control system design methods,including Quantitative Feedback Theory, are reviewed and their strengths andweaknesses are analyzed.

The course includes a survey of design aspects that are characteristic for multivariablesystems, such as interaction, decoupling and input-output pairing. Further LQ, LQGand some of their extensions are reviewed. Their potential for single- and multi-loopdesign is examined.

After a thorough presentation of the generalized plant framework and the notions ofstructured and unstructured uncertainties, design methods based onH-infinity-optimization and mu-synthesis are presented.

contents• Introduction to feedback theory. Basic feedback theory, closed-loop stability, stability

robustness, loop shaping, limits of performance.• Classical control system design. Design goals and classical performance criteria,

integral control, frequency response analysis, compensator design, classical methodsfor compensator design. Quantitative Feedback Theory.

• Multivariable Control Multivariable poles and zeros, interaction, interaction measures,decoupling, input-output pairing, servo compensators.

• LQ, LQG and Control System DesignLQ basic theory, some extensions of LQ theory,design by LQ theory, LQG basic theory, asymptotic analysis, design by LQG theory,optimization, examples and applications

• The generalized plant framework, parametric and dynamic uncertainty models, thesmall-gain theorem, stability robustness of feedback systems, structured singularvalue robustness analysis, combined stability and performance robustness.

• H-infinity optimization and mu-synthesis, the mixed sensitivity problem, loop shaping;the standard H-infinity control problem, state space solution, optimal and suboptimalsolutions, integral control and HF roll-off, mu-synthesis, application of mu-synthesis.

• Appendix on Matrices• Appendix on norms of signals and systems

lecture notesWill be distributed during the course.

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prerequisitesBasic undergraduate courses in systems and control. Some familiarity with MATLABis helpful for doing the homework exercises.

homework assignmentsFour homework sets will be distributed via the course website.

Homework is graded on a scale from 1 to 10. Missing sets receive grade 0. The finalgrade for the course is the average of the grades for the four homework sets.



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1.4.5 linear matrix inequalities for control (Winter 2008-2009)

lecturersProf.dr. C.W. Scherer, Delft University of Technology

Dr. S. Weiland, Eindhoven University of Technology

objectiveLinear matrix inequalities (LMI's) have emerged as a powerful tool to approach controlproblems that appear hard if not impossible to solve in an analytic fashion. Althoughthe history of LMI's goes back to the fourties with a major emphasis of their role incontrol in the sixties (Kalman, Yakubovich, Popov, Willems), only recently powerfulnumerical interior point techniques have been developed to solve LMI's in a practicallyefficient manner (Nesterov, Nemirovskii 1994).

Several Matlab software packages are available that allow a simple coding of generalLMI problems and of those that arise in typical control problems. In particular, theformer LMI toolbox has been integrated in the Matlab robust control toolbox.

Boosted by the availability of fast LMI solvers, research in robust control hasexperienced a paradigm shift - instead of arriving at an analytical solution the intentionis to reformulate a given problem to verifying whether an LMI is solvable or tooptimizing functionals over LMI constraints.

aims of the course• to reveal the basic principles of formulating desired properties of a control system in

the form of LMI's• to demonstrate the techniques how to reduce the corresponding controller synthesis

problem to an LMI problem• to get familiar with the use of software packages for performance analysis and controller

synthesis using LMI tools.• The power of this approach is illustrated by several fundamental robustness and

performance problems in analysis and design of linear control systems.

topics• Some facts from convex analysis. Linear Matrix Inequalities: Introduction. History.

Algorithms for their solution.• The role of Lyapunov functions to ensure invariance, stability, performance, robust

performance. Considered criteria: Dissipativity, integral quadratic constraints, H2-norm,H norm, upper bound of peak-to-peak norm. LMI stability regions.

• Frequency domain techniques for the robustness analysis of a control system. IntegralQuadratic Constraints. Multipliers. Relations to classical tests and to µ-theory.

• A general technique to proceed from LMI analysis to LMI synthesis. State-feedbackand output-feedback synthesis algorithms for robust stability, nominal performanceand robust performance using general scalings.

• Extensions to mixed control problems and to linear parametrically-varying controllerdesign.

materialThe main reference material for the course will be lectures notes and

• S. Boyd, L. El Ghaoui, E. Feron and V. Balakrishnan, Linear Matrix Inequalities inSystem and Control Theory, SIAM studies in Applied Mathematics, Philadelphia, 1994.

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• L. El Ghaoui and S.I.Niculescu (Editors), Advances in Linear Matrix Inequality Methodsin Control, SIAM, Philadelphia, 2000.

• Ben-Tal, A. Nemirovski, Lectures on Modern Convex Optimization: Analysis, Algorithms,and Engineering Applications, SIAM-MPS Series in Optimizaton, SIAM, Philadelphia,2001.

• G. Balas, R. Chiang, et al. (2006). Robust Control Toobox (Version 3.1), TheMathWorks Inc.

• J. Löfberg, YALMIP, http://control.ee.ethz.ch/˜joloef/yalmip.php.

prerequisitesLinear algebra, calculus, basic system theory, MATLAB.

examinationFull credit is received for successfully solving at least 50% of the assigned take-homeexams.


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1.4.6 distributed parameter systems (Spring 2009)

lecturersDr. B. Jacob, Delft University of Technology

Dr. H.J. Zwart, University of Twente

objectiveModeling of dynamical systems with a spatial component leads to lumped parametersystems, when the spatial component may be denied, and to distributed parametersystems otherwise. The mathematical model of distributed parameter systems willbe a partial differential equation. Examples of dynamical sytems with a spatialcomponent are, among others, temperature distribution of metal slabs or plates, andthe vibration of aircraft wings.

This course provides an introduction to distributed parameter systems. In particular,we will study distributed parameter port Hamiltonian systems. This class containsthe above mentioned examples. The norm of such a system is given by the energy(Hamiltonian) of the system.This fact enables us to show relatively easy the existenceand stability of solutions. Further, it is possible to determine which boundary variablesare suitable as inputs and outputs, and how the system can be stabilized via theboundary.

At the end of the course the students should be able to model distributed parametersystems as distributed parameter port Hamiltonian system, and should be able toapply known concepts from system and control theory such as controllability,observability, stability, stabilizability and transfer functions to these systems.

contents• Distributed parameter port Hamiltonian system• Wellposedness of distributed parameter port Hamiltonian system• Control and observation at the boundary• Transfer functions• Wellposedness of control and observation operators• Stability, stabilizability, controllability and observability• Equations with diffusion• Extensions

prerequisitesBasic undergraduate courses in systems and control

lecture notesLecture notes are under preparation and will be distributed during the presentationsof the course.

homework assignmentsFour homework assignments will be given during the course lectures. Theassignments will be graded and the average grade will be the final grade for thecourse.


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1.4.7 system and control theory of nonlinear systems (Spring 2009 and Spring2010)

lecturersProf.dr. H. Nijmeijer, Eindhoven University of Technology

Prof.dr. A.J. van der Schaft, University of Groningen

objectiveThis course provides an introduction to the use of modern mathematical techniquesin nonlinear system and control theory. The intrinsic difficulties of the control ofnonlinear systems, as well as the effectiveness of the newly developed mathematicaltheory, are illustrated throughout the course by some apparently simple and physicallywell-motivated examples, for instance from the area of robotic manipulators andmobile robots.

contents• Introduction. What is a nonlinear system? Characteristic examples. Limitations of

linearization. Nonlinear input-output maps.• Controllability and observability. Lie brackets; rank conditions, relations with

controllability and observability of linearized systems, examples.• State space transformations and feedback. State feedback, feedback linearization,

computed torque control of robot manipulators, observer design, and examples.• Decoupling problems. Disturbance and input-output decoupling, tracking, geometrical

formulation and controlled invariant distributions, examples.• Stability and stabilization. Stabilization and linearization, stabilization of non-controllable

critical eigenvalues, zero dynamics and decoupling problems with stability,passivity-based control, DISContinuous feedback, examples.

lecture notesNonlinear Dynamical Control Systems, by H. Nijmeijer and A.J. van der Schaft,Springer Verlag, New York, 1990 (fourth printing 1999).

Some additional lecture notes are distributed during the course.

gradingThe evaluation will be done on the basis of three take-home exams that will behanded out during the course, and which need to be made individually.

prerequisitesAn undergraduate course in state space methods for linear control systems. Also acourse covering basic knowledge on ordinary differential equations is needed.Likewise, it is highly recommended to have attended a course on linear algebra.



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1.4.8 flexible multibody system analysis for control purposes (Fall 2009)

lecturersProf.dr.ir. J.B.Jonker, University of Twente

Dr.ir. R.G.K.M. Aarts, University of Twente

Dr.ir. J. van Dijk, University of Twente

objectiveFor control design of mechatronic systems it is essential to make use of simpleprototype models with a few degrees of freedom that capture only the relevant systemdynamics. For this purpose, the multibody system approach is a well-suited methodto model the dynamical behaviour of the mechanical part of such systems. In thisapproach the mechanical components are considered as rigid or flexible bodies thatinteract with each other through a variety of connections such as hinges and flexiblecoupling elements like trusses and beams. The method is applicable for flexiblemultibody systems as well as for flexible structures in which the system membersexperience only small displacement motions and elastic deformations with respectto an equilibrium position. A mathematical description of these models is representedby the equations of motion derived from the multibody systems approach.

For control synthesis a linearized state-space formulation is required in which anarbitrary combination of positions, velocities, accelerations and forces can be takenboth as input variables and as output variables, according to the control problembeing solved.

In this course basic concepts of flexible multibody system dynamics are presentedusing a non-linear finite element method. This formulation accounts for geometricnonlinear effects of flexible elements due to axial and transverse displacements.Theapproach offers many possibilities for analysis, simulation and prototype modelingof mechatronic systems. This will be illustrated through a variety of design cases.

contents• Scope of flexible multibody kinematics and dynamics. Multibody versus finite element

formulations. Description of angular orientation: Euler angles, Quarternions.• Finite element representation of flexible multibody systems. Kinematical analysis: the

concept of constraints, degrees of freedom and geometric transfer functions. Dynamicanalysis: lumped mass formulation, consistent mass formulation, stiffness matrices,equations of motion, equations of reaction.

• Linearized equations for control system analysis. Stationary and equilibrium solutions.Linearized state-space equations.

• Illustrative design examples e.g. an active encoder head and a multi axes vibrationisolation system.


prerequisitesBasic background in systems modelling and control theory.

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1.4.9 fuzzy and neural control (Winter 2009-2010)

lecturersProf.dr. R. Babuska, Delft University of Technology

Prof.dr.ir. J. Hellendoorn, Siemens Nederland and Delft Center for Systems andControl, Delft University of Technology

objectiveThis course provides basic knowledge of fuzzy and neural (also called "intelligent")methods for the modeling and control of nonlinear systems. An overview of typicalapplications is given. The participants will have the opportunity to gain hands-onexperience by solving Matlab/Simulink oriented assignments.

While traditional control engineering methods are based on differential and differenceequations, intelligent techniques employ alternative representation schemes suchas fuzzy logic rules, which can incorporate human knowledge and deductiveprocesses, or artificial neural networks to realize learning and adaptation capabilities.These techniques can be used for black box and gray-box modeling,knowledge-based as well as model-based control and decision support.

contents• Introduction and motivation.• Essentials of fuzzy sets and artificial neural networks.• Knowledge-based design, direct and supervisory control.• Data-driven neural and fuzzy modeling, model-based control using fuzzy and neural

models.• Overview of industrial applications.

lecture notesThe lecture notes are available electronically. The participants can download thelecture notes as a zipped postscript file (ZIP) or as a portable document format file(PDF).

Transparencies and MATLAB/Simulink demos shown at lectures can be downloadedas well.

prerequisitesLinear algebra and analysis. Basics of linear systems, control and identification.

homework assignmentsThree homework assignments will be given during the course lectures.The deadlineis always the next following lecture.The assignments will be graded and the averagegrade will be the final grade for the course.


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1.4.10 linear quadratic differential games (Winter 2009-2010)

lecturersDr. J.C. Engwerda, Tilburg University

objectiveInteraction between processes at various levels takes place everywhere around us.Either in industry, economics, ecology or on a social level, in many places processesinfluence each other. Particularly in those case where subjects can affect the outcomeof a process, the question arises how subjects come to a certain action.To get moregrip on this question within mathematics the paradigms of optimal control theory andgame theory evolved. As a merge of both strands of this literature dynamic gametheory resulted. This theory brings together the issues of: optimizing behavior,presence of multiple agents, enduring consequences of decisions, and robustnesswith respect to variability in the environment. Within this field, linear quadraticdifferential games developed and plays an important role for three reasons: first,many applications of differential game theory fall into this category, second, thereare many analytical results available and, third, efficient numerical solution techniquescan be used to solve these games.

The aim of this course is to give an introduction into the theory of differential games.For the above mentioned reasons we will mainly focus on the linear quadratic case.

In the linear quadratic case it is assumed that there are several agents which caninfluence the evolution of the state of a system, described by a linear differentialequation. Each agent has his own goals which he likes to achieve. These goals areassumed to be described by a quadratic function of the state of the system, thecontrol efforts of the involved agent and (sometimes) the control efforts used by theother agents. In particular, by viewing ”nature” as a separate player in the game whocan choose an input function that works against the other player(s), one can modelworst-case scenarios and, consequently, analyze the robustness of the ”undisturbed”solution.

We start by analyzing the one-player case. The obtained results are used later onto analyze the multi-player case. After this case, we consider the so-called cooperativecase. That is, the case where all agents agree to reach their goals by coordinatingtheir control efforts. In that case the outcome of the game depends strongly on thebargaining concept used. Some bargaining concepts and its numerical calculationwill be discussed. In case the agents decide not to coordinate their actions, theinformation the different agents have about the game turns out to be an importantfeature in the analysis of the multi-player case. We will consider two informationstructures. The so-called open-loop and the feedback information case. For bothinformation structures we will derive the individually rational (Nash) outcomes of thegame and present numerical algorithms to calculate outcomes. Finally, theconsequences of model uncertainty will be discussed for the pursued actions of theagents. The presented theory will be illustrated in a number of examples.

contents• Some main results on regular linear quadratic optimal control.

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• Cooperative games. Necessary and sufficient conditions for existence of Paretosolutions. Bargaining theory. Numerical solutions.

• Non-Cooperative Open-Loop information games. Nash equilibrium concept. Necessaryand sufficient conditions for existence of a unique Nash equilibrium. Some main resultson the linear quadratic case.

• Non-Cooperative Feedback information games. Characterization and existence results.Planning horizon convergence issues.

• Uncertain Non-Cooperative Feedback information games. Stochastic Approach andDeterministic Approach.

prerequisitesSome familiarity with differential equations and linear algebra.

course materialJ.C. Engwerda, Linear Quadratic Dynamic Optimization and Differential Games,ISBN: 0-470-01524-1, Wiley, 2005, Chapters 5-9.

homework assignmentsEvery week a set of homework exercises has to be handed in.There is no final exam.


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1.4.11 model predictive control (Winter 2009-2010)

lecturersDr.ir. A.J.J. van den Boom, Delft University of Technology

Prof.dr. A.A. Stoorvogel, University of Twente

objectiveThe model predictive control (MPC) strategy yields the optimization of a performanceindex with respect to some future control sequence, using predictions of the outputsignal based on a process model, coping with amplitude constraints on inputs, outputsand states.The course presents an overview of the most important predictive controlstrategies, the theoretical aspects as well as the practical implications, which makesmodel predictive control so successful in many areas of industry, such aspetro-chemical industry and chemical process industry. Hands-on experience isobtained by MATLAB exercises.

objective• Introduction to the basic concepts of model predictive control.• Theoretical foundation as well as the practical issues in MPC.• Overview of current research and future directions for MPC.

contents• General introduction. Different type of models and model-structures, advantages and

limitations. Signal constraints in control.• Standard predictive control scheme. Relation standard form with GPC, LQPC and

other predictive control schemes. Finite/infinite horizon MPC. Solution of the standardpredictive control problem.

• Stability and the role of endpoint penalties. The effects of model uncertainty androbustness analysis.

• The effects of noise on prediction and constraints.• Limitations in MPC: complexity, feasibility, computational requirements, real-time

implementation.

lecture notesThe lecture notes of the course will be made available electronically.

prerequisitesCalculus and linear algebra. Basics of linear system and control (Sections §1.13,§1.15, §1.16, §3.2.C, §3.3.C, §6.10 and appendix A.3 from the book Linear systemsby P.J. Antsaklis and A.N. Michel, McGraw-Hill 1998).

homework assignmentsTwo homework assignments will be handed out. The assignments will be graded,and the average will be your final grade for this course.


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1.4.12 filtering algorithms for large-scale systems (Winter 2009-2010)

lecturersProf.dr.ir. A.W. Heemink, Delft University of TechnologyDr. R.G. Haena, Delft University of Techonology

objectiveReal-time filtering and prediction of physical phenomena is of great interest and relieson accurate and fast dynamical models.The modeling process, based on first principlemodels that involve dynamic conservation laws, normally leads to models consistingof many thousands of differential equations. Numerical weather prediction is anexample of a very challenging large-scale filtering problem. Efficient reductiontechniques are indispensable to simplify the filtering problem to obtain acomputationally feasible solution method. The solution of the reduced problemhowever still have to capture the essential properties of the underlying physicalsystem.

This course aims to address various issues of filtering problems of large-scale systemsthat lead to computationally attractive methods for estimation and prediction purposes.Attention will be concentrated on models that are based upon partial differentialequations and that have to be approximated numerically in order to obtain a discretestate space representation of the physical system.

contents• General Introduction. Linear filtering problem (Kalman filtering), nonlinear extensions.

State space representation of numerical models based on PDE's.• Computational issues in large-scale filtering problems, Square root filtering, Potter

algorithm• Ensemble Kalman filtering algorithms (Ensemble Kalman filter, Reduced-Rank square

root filtering, Hybrid algorithms, Symmetric versions of the algorithms).• Euler-Lagrange equations. Representer method for linear state estimation. Relation

with Kalman filtering. Examples and real-life applications

prerequisitesBasic undergraduate courses in systems and control, basic knowledge of pde's, andbasic programming skills.


homework assignmentsA take-home exam will be handed out after the last lecture.


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1.5 Summer School

From June 2-5, 2009, DISC organized an International Summer School on DistributedControl and Estimation in Noordwijkerhout, The Netherlands.

There were 49 participants, mostly PhD students.

The invitation for attending the school was addressed to research students and staffmembers of the Dutch Institute of Systems and Control (DISC) and to otherresearchers and engineers engaged in the systems and control and adjacent fields.

The main goal of the DISC summer schools is to familiarize young researchers withrecent developments in systems and control as well as in neighboring disciplines,and to provide them with the opportunity to enjoy, in an informal atmosphere,discussions with top researchers in systems and control. The summer schools alsoprovide an opportunity for DISC staff members and others to upgrade their knowledgein specific areas of interest.

The DISC Summer School 2009 was devoted to “Distributed Control and Estimation”.Complex systems receive growing interest in many fields of contemporary science,including physics, biology, social sciences and economics. In these domains we areuncovering more and more details about system behavior, which can no longer beunderstood by investigating the single components alone. At the same time, we arecreating ever more complicated man-made technological systems(precision-manufacturing, robotics, communication, infrastructures, transportation,production to name a few), that consist of high numbers of components, sensingand actuation tools, which have to fulfill increasing demands. As current large-scalesystems advance and new emerging technologies arise, distributed sensing,decision-making and information exchange gets intimately intertwined with feedbackloops and dynamic phenomena. Progress in these areas requires advances infundamentals of systems and control theory, estimation and optimization. In additionto deeper fundamental understanding, diverse engineering tools are needed toanalyze and design complex distributed control systems in a systematic way.

In order to capture both aspects of this challenging problem, the 2009 DISC SummerSchool focused on distributed control and estimation both from a fundamental pointof view (distributed decision-making and optimization) and an engineering perspective(applications). This is reflected in the list of speakers, which included expertresearchers, educators and engineers from leading groups around the world.

The main program consisted of the following international speakers:

Bassam Bamieh UC Santa Barbara, USA

Karl H. Johansson Royal Institute of Technology, Sweden

Cedric Langbort University of Illinois at Urbana-Champaign, USA

Reza Olfati-Saber Dartmouth College, USA

Michael Rotkowitz University of Melbourne, Australia

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Short presentations of the following national speakers will complete the summerschool’s program:

Ming Cao University of Groningen, The Netherlands

Andrej Jokic Eindhoven University of Technology, The Netherlands

Tamas Keviczky Delft University of Technology, The Netherlands

Joris Sijs TNO Science and Industry, The Netherlands

1.5.1 The abstracts of the lectures:

Reza Olfati-SaberLecture 1

Flocking Theory: Distributed Control of Networked Multi-Robot Systems• Introduction• Reynolds Rules• Basic Notions in Flocking Theory• Distributed Flocking Algorithms• Stability Analysis and Simulation of Flocking• Flocking with Obstacle Avoidance• Peer-to-Peer Networks of Mobile Agents

Lecture 2

Distributed Kalman Filtering for Sensor Networks• Introduction: Sensor Networks and Tracking• Background on Kalman Filtering• Problem Setup: Distributed Kalman Filtering (DKF)

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• Main DKF Algorithm: Kalman-Consenus Filter• Simulation Results• Stability Analysis• Conclusions

Cedric Langbort

Computational and Communication Complexity in Distributed Control• Basic definitions and notions of complexity (P/ NP with examples, bit- communication

complexity, real number communication complexity...) - probably one session• Classical lower bounds methods (monochromatic rectangles, rank bound for bit

communication complexity, bordered Hessian/ Leontieff theorem andAbelson/Luo-Tsitsiklis bounds for real number communication complexity...

• Application to distributed control, decision-making, games and estimation problems(Blondel-Tsitsiklis' proof of NP-hardness of distributed control design, complexity ofvarious distributed decision problems following, e.g., Tsitsiklis & Papadimitriou,

• recent results from my and other groups

Karl H. Johansson

Event-based control for distributed systemsThe theory covered will be based on stochastic control and time stopping. It will beshown that event-based sensing and control often provides a more scalable andefficient trade-off between control performance and communication cost thantraditional periodically sampled systems. By making transmissions only when neededand taking decisions locally at the sensor nodes, it is possible to utilize thecommunication resources more efficiently. The presentation will be supported byindustrial case studies of wireless networking and control.

Bassam BamiehLecture 1

The structure of optimal distributed controllers: what you get for free, and what youcan imposeControl systems in which dynamics, actuation and sensing are all spatially distributedinvolve new questions that do not typically arise in traditional control design. Thesequestions mainly concern the architecture of controllers, such as how centralized ordistributed they are, as well as the scalability of analysis and design algorithms.

Both the controlled system and the controller can be regarded as spatio-temporalsystems, and a variety of these structural questions can be recast as questions aboutthe spatio-temporal dynamics. We will concentrate mainly on the special case oflinear spatially-invariant systems, which seem to provide useful intuition for moregeneral situations. This is in much the same way that linear time-invariant theoryprovides useful insights for more general time-varying or non-linear systems.

We will see that on the one hand, optimal distributed controllers have some inherentspecial structure, while on the other hand, some special of additional structuralconstraints can be tractably imposed in the design procedure.

This presentation will emphasize constructive analysis and design techniques aswell as general results.

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Lecture 2

Randomness and Performance in Large Controlled NetworksWe consider networked control systems in which both additive and multiplicative

randomness exist. When these networks become large, several interesting and

sometimes unsuspected phenomena occur such as phase transitions. We analyzesuch network algorithms as linear systems with additive and multiplicative randomnoise, and explore the asymptotics of various performance measures in the limit oflarge network sizes. Network topology and how randomness enters the dynamicsturn out to play a significant role in how some performance measures scale.

We illustrate these phenomena with examples from vehicular formations and

consensus algorithms. These lead to the interesting observation that quantifying

performance in large-scale systems is a rather subtle issue, especially in the presenceof distributed uncertainty.

Michael RotkowitzLecture 1

On convex optimization of optimal decentralized Controllers• Sparsity• Symmetry• Delays• Networks• Spatio-temporal systems

Lecture 2

On linear (sub)optimality of decentralized controllers• Motivation: Optimal Constrained Control• Linear Time-Invariant• Quadratic Invariance• Summation• Nonlinear Time-Varying• Iteration• Nonlinear Condition

Ming Cao

Rigidity graph theory and formation control of teams of autonomous agents• Multiagent formations• Formation maintenance with distance constraints• Rigidity graph theory• Distributed control of directed triangular formations

Andrej Jokic

On control of discrete-time nonlinear systems under arbitrary information constraintsIn the talk we consider stabilization and optimal control of interconnected discrete-timenonlinear systems under given, arbitrary information constraints on the controllerstructure. As a prominent example, the considered information constraints on the

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controller structure include decentralized and distributed control over a givencommunication network. We present the notion of structured control Lyapunovfunctions (CLFs) as a suitable tool for stabilizing controller synthesis under informationconstraints.The control synthesis problem can be formulated as a convex optimizationproblem and solved efficiently on-line under several different types of informationconstraints.

Tamas Keviczky

On distributed optimization methods in control and estimation• Motivation• General problem formulation• Distributed optimization and decomposition methods• Example: Receding horizon implementation of finite-time• optimal rendezvous• Incremental subgradient methods• Relaxing communication constraints• Combined consensus/subgradient methods• Summary

Joris SijsState estimation for various sampling methodologies

Current state-estimation algorithms are mainly based on receiving measurements(a)synchronous in time. Notice that this is a very specific sampling methodology asthe measurement-samples are taken depending only on the current time.

Another option is to take samples depending on the measured value, also knownas event sampling. In case this type of sampling method is used, it enables newpossibilities for state-estimators for updating the state in between two samplinginstants.

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1.6 Benelux Meeting

Benelux Meeting 2009

The 28th Benelux Meeting on Systems and Control was organized under the auspicesof DISC and held from March 16-18, 2009 in Spa, Belgium.

The aim of this meeting is to promote research activities and cooperation betweenresearchers in Systems and Control. It is the twenty-eighth in a series of annualconferences that are held alternately in Belgium and The Netherlands. The meetingtakes place under the auspices of the Dutch Institute of Systems and Control (DISC)and the Belgian Federation of Automatic Control (IBRA).

Scientific programThe Scientific Program included two plenary speakers, namely

• Navin Khaneja (Harvard University, USA): Control of ensembles• René Vidal (Johns Hopkins University, USA): Binet-Cauchy Kernels for the Recognition

of Visual Dynamics

There was also a Mini-Course taught by Jorge Cortés and Sonia Martinez (Universityof California at San Diego, USA) on Distributed control of Robotic Networks.

Finally, there were a numerous (parallel) sessions with contributed lectures coveringa wide range of topics in Systems and Control.

An overview of the program follows. A total of 220 staff, researchers and PhD studentsattended the meeting.

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Best junior presentation award – DISC trophy

At the end of the 28th Benelux Meeting on Systems and Control, the Best JuniorPresentation award was awarded to Frédéric Crevecoeur (Université Catholique deLouvain, Center for Systems Engineering and Applied Mechanics) for his presentation“Motor Commands are Optimized in the Gravity Field”

The prize honors the best presentation at the Benelux Meeting by a junior presenter,i.e., a researcher working towards the PhD degree.The award consists of a certificateand the DISC Challenge Trophy.

The jury for this year’s award consisted of Joseph Winkin (University ofNamur-FUNDP) and Peter Heuberger (Delft University of Technology).

1.7 DISC PhD Thesis Award 2008

During the 2009 Benelux Meeting the first DISC PhD Thesis Award has been awardedto the DISC PhD student that has defended his PhD thesis during 2008 and hasbeen selected as the author of the best PhD Thesis. Eligible candidates are requiredto have completed a DISC course programme, to defend their thesis before 54months after the start of their project, and to be nominated by their promotor. Eachfull professor can only nominate one candidate.

Finalists for the 2008 Award were:• Wouter Aangenent (TU/e-ME)• Roland Toth (TUD-DCSC)• Dirk Vries (WU)• Jan Willem van Wingerden (TUD-DCSC)

The DISC PhD Thesis Award 2008 was awarded to Dr.ir. J.W. van Wingerden(TUD-DCSC) for his thesis entitled “Control of Wind Turbines with ‘Smart Rotors:Proof of Concept and LPV subspace identification”.

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1.8 PhD Theses 2009

TUD-DCSC

Baskar, LD (2009, november 18).Traffic management and control in intelligent vehiclehighway systems.TUD Technische Universiteit Delft (156 pag.) (Delft). Prom./coprom.:Prof.dr.ir. B. De Schutter & Prof.dr.ir. J. Hellendoorn.

Busoniu, IL (2009, januari 13). Reinforcement learning in continuous state and actionspaces.TUD Technische Universiteit Delft (189 pag.) (Delft). Prom./coprom.: Prof.dr.R. Babuska & Prof.dr.ir. B. De Schutter.

Dong, J (2009, november 11). Data driven fault tolerant control: A subspaceapproach.TUD Technische Universiteit Delft (179 pag.) (Delft). Prom./coprom.:Prof.dr.ir. M Verhaegen.

Kalbasenka, AN (2009, december 17). Model-Based Control of Industrial BatchCrystallizers. TUD Technische Universiteit Delft (Delft). Prom./coprom.: Prof.ir. O.H.Bosgra and Dr.ir. H.J.M. Kramer.

Lendek, Zs (2009, maart 10). Distributed fuzzy and stochastic observers for nonlinearsystems.TUD Technische Universiteit Delft (176 pag.) (Delft). Prom./coprom.: Prof.dr.R Babuska & Prof.dr.ir. B De Schutter.

Schagen, KM van (2009, mei 19). Model-based control of drinking-water treatmentplants.TUD Technische Universiteit Delft (171 pag.) (Delft). Prom./coprom.: Prof.dr.R Babuska.

TUD-DIAMRommelse, JR (2009, januari 19). Data assimilation in reservoir management.TUDTechnische Universiteit Delft (160 pag.) (Delft, The Netherlands: TUD TechnischeUniversiteit Delft). Prom./coprom.: Prof.dr.ir. AW Heemink & Dr.ir. JD Jansen.

Sumihar, JH (2009, oktober 19).Two-sample Kalman filter and system error modellingfor storm surge forecasting.TUD Technische Universiteit Delft (157 pag.) (Delft: TUDelft). Prom./coprom.: Prof.dr.ir. AW Heemink & Ir. M Verlaan.

Stankova, K (2009 februari 2). On Stackelberg and Inverse Stackelberg Games.TUD Technische Universiteit Delft (Delft). Prom./coprom.: Prof.dr.ir. G.J. Olsder.

TUe-MELaan, EP van der, (2009, December 7). Seat Belt Control From Modeling toexperiment. TUe Technische Universiteit Eindhoven (Eindhoven). Prom./coprom.:Prof.dr.ir. M.Steinbuch and Dr.ir. A.G. de Jager.

Merry, R.J.E., (2009, November 25). Performance-driven control of nano-motionsystems. TUe Technische Universiteit Eindhoven (Eindhoven). Prom./coprom.:Prof.dr.ir. M.Steinbuch and Dr.ir. M.J.G. van de Molengraft.

UT-AMSaha, S. (2009) Topics in Particle Filtering and Smoothing. (2009, September 18).127 pp. Thales Nederland BV. Prom./coprom.: Prof.dr. A. Bagchi, Dr. P.K. Mandal.ISBN: 978-90-365-2864-1

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UT-MEW.B.J. Hakvoort, Iterative learning control for LTV systems with applications to anindustrial robot, 978-90-77172-44-5, University of Twente, May, 28, 2009.Prom./coprom.: Prof.dr.ir. J.B. Jonker, Prof.ir. O.H. Bosgra and Dr.ir. R.G.K.M. Aarts

WUBakker, T. (2009, februari 13). An autonomous robot for weed control : design,navigation and control. WUR Wageningen UR (138 pag.) ([S.l.: s.n.]) (ISBN9789085853268). Prom./coprom.: Prof dr.ir G. van Straten, J. Mueller & Dr. J.Bontsema.

Campen, J.B. (2009, oktober 23). Dehumidification of greenhouses. WURWageningen UR (XI, 117 pag.) ([S.l.: s.n.]) (ISBN 9789085854296). Prom./coprom.:Prof.dr.ir. G.P.A. Bot.

RUG-IWIH.B. Minh, Model Reduction in a Behavioral Framework. University of Groningen,The Netherlands, January 23, 2009. Promotor: Prof.dr. H.L. Trentelman.

RUG-ITMT.C. Ionescu, Balanced Truncation for Dissipative and Symmetric Nonlinear Systems,September 2009. Promotor: Prof.dr.ir.J.M.A. Scherpen.

TUD-AEBorst, C (2009, juni 15).Ecological Approach to Pilot Terrain Awareness.TUDTechnische Universiteit Delft (264 pag.) (Ridderkerk: Ridderprint). Prom./coprom.:Prof.dr.ir. JA Mulder & Prof.dr.ir. M Mulder.

Damveld, HJ (2009, mei 20). A Cybernetic Approach to Assess the LongitudinalHandling Qualities of Aerolastic Aircraft.TUD Technische Universiteit Delft (337 pag.)(Nieuw-Vennep: H.J. Damveld). Prom./coprom.: Prof.dr.ir. JA Mulder & Dr.ir. MMvan Paassen.

Lam, TM (2009, mei 11). Haptic Interface for UAV Teleoperation.TUD TechnischeUniversiteit Delft (200 pag.) ( T.M. Lam). Prom./coprom.: Prof.dr.ir. JA Mulder, Prof.dr.FCT van der Helm & Prof.dr.ir. M Mulder.

Winter, JCF de (2009, januari 27).Advancing simulation-based driver training.TUDTechnische Universiteit Delft (255 pag.) (Delft: TU Delft). Prom./coprom.: Prof.dr.ir.PA Wieringa & Prof.dr.ir. JA Mulder.

MUKarel J.M.H; A wavelet approach to cardiac signal processing for low-power hardwareapplications; Ph.D. Thesis, Universitaire Pers Maastricht, Maastricht University, 15December 2009. Prom./coprom.: Prof.dr.ir. R.L.M. Peeters and Dr. R.L. Westra.

CWINemcova, J (2009, december 2) Rational Systems in Control and System Theory.Vrije Universiteit Amsterdam, Amsterdam. Prom./coprom.: Prof.dr.ir. J.H. vanSchuppen

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Sella, L (2009, December 1) Computation of symbolic dynamics of low-dimensionalmaps. Vrije Universiteit Amsterdam, Amsterdam. Prom./coprom.: Prof.dr.ir. J.H. vanSchuppen and Dr. P.J. Collins.

1.9 Awards

In 2009 the following VENI/VIDI awards were granted to DISC members:

VENI• Dr. A. Abate (TUD-DCSC): “Abstraction Techniques for Automatic Verification and

Optimal Control of Stochastic Hybrid Systems”.• David Abbink (TUD-AE): “Feeling is Believing”.• Dr. M. Cao (RUG-ITM): “Biologically inspired information architecture for robots”.

VIDI• Frank Vallentin (TUD-DIAM): “Solving Difficult Optimization Problems”.

Paul Frank Theory Paper AwardJianfei Dong, Balazs Kulcsar and Michel Verhaegen, have been awarded the "PaulFrank Theory Paper Award” that is awarded to the authors of the best theory paperpresented at the IFAC SAFEPROCESS 2009 Symposium, for their conference paper:

J. Dong, B. Kulcsar and M. Verhaegen (2009). Subspace based fault identificationfor LPV systems. In the Proceedings of the 7th IFAC Symposium on Fault Detection,Supervision and Safety of Technical Processes (SafeProcess09), pp. 335-341.Barcelona, Spain

Andrew P. Sage Best Transactions Paper AwardL. Busoniu, R. Babuska, and B. De Schutter have been selected as the recipientsof the "2009 Andrew P. Sage Best Transactions Paper Award” that is awarded torecognize the authors of the best paper published annually in the IEEE Transactionson Systems, Man and Cybernetics, for their publication:

L. Busoniu, R. Babuska, and B. De Schutter, "A Comprehensive Survey of MultiagentReinforcement Learning," Transactions on Systems, Man, and Cybernetics - PartC: Applications and Reviews, Volume 38, Issue 2, March 2008, Pages: 156-172.

1.10 3TU Centre of Excellence Intelligent Mechatronic Systems

The three leading universities of technology in the Netherlands - Delft University ofTechnology, Eindhoven University of Technology and the University of Twente -have joined forces in the 3TU.Federation. This federation maximizes innovation bycombining and concentrating the strengths of all three universities in research,education and knowledge transfer.

By clustering research activities into Centres of Competence, the 3TU.Federationaims to strengthen the competitive position of the Dutch knowledge economy. Theresulting ‘critical mass’ is essential to create a strong knowledge base. We believethis is inseparable from the drive to achieve and maintain scientific excellence. Forthis reason, Centres of Excellence have been established within the Centres ofCompetence. These are partnerships aiming at the creation of synergy and criticalmass in specific research topics. In these Centres our best research workers, together

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with newly recruited top professors, will work together on a number of socially relevantthemes in coordinated, focused programmes. The five Centres of Competence /Centres of Excellence are:

• CoCHigh Tech Systems / CoE 3TU.Centre for Intelligent Mechatronic Systems• CoC Netherlands Institute of Research on ICT / CoE 3TU.Centre for Dependable ICT

Systems• CoC University Research Group on Sustainable Energy Technologies / CoE

3TU.Centre for Sustainable Energy Technologies• CoC Applications of Nano Technology / CoE 3TU.Centre for Bio-Nano Applications• CoC Fluid and Solid Mechanics / CoE 3TU.Centre for Multiscale phenomena

On top of these five research domains the three Dutch Technical Universities createda sixth CoE, the 3TU Centre for Ethics and Technology.

Each Centre of Competence has a board formed by the dean of each of the threeUniversities of Technology who is the most involved in the subject area concerned.Furthermore, each Centre of Competence has a Scientific Director who coordinatesthe work within the Centre of Competence, including the Centres of Excellence withinit, and advises the board accordingly. Within the domain of “High-Tech Systems” a3TU Centre of Excellence in Intelligent Mechatronic Systems was created,incorporating around 10M€ of investments in tenured university positions within thethree TU’s, in particular in systems and control, mechatronics and robotics. ScientificDirector of the 3TU CoE IMS is Prof. Maarten Steinbuch (TU/e).

In the scope of this 3TU CoE the following members of DISC have been appointed:• Prof. Bart De Schutter (TUD-DCSC) Hybrid Control and Intelligent

Transportation Systems• Dr. Tamas Keviczky (TUD-DCSC) Distributed Tensing and Control• Dr. Rafaella Carloni (UT-EE) Humanoid Robotics• Prof.dr. Anton Stoorvogel (UT-AM) Mathematical Systems Theory• Prof.dr. Claudio DePersis (UT/ME) Device fabrication Technologies• Dr. Mircea Lazar (TU/e-EE) Hybrid systems• Dr. Dragan Kostic (TU/e-ME) Robotics• Prof.dr.ir. Maurice heemels (Tu/e-ME) Hybrid and Networked Systems

1.11 National MSc programmes

In the scope of the 3TU Federation and in particular the 3TU Graduate School, aninitiative was further shaped to start a joint 3TU MSc Program in Systems and Control(two-year program). DISC is involved in this initiative in a coordinating and facilitatingrole. The scientific director of DISC is member of the Team of Education Directorsof this programme. The 3 TU program started on 1 September 2007(www.3tu.nl/en/education/systems_and_control).

Furthermore DISC is involved in Mastermath, the Dutch Master Program inMathematics. (www.mastermath.nl/). Dr.ir. J.W. Polderman represents DISC in theprogramcouncil.

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1.12 Management report 2009

1.12.1 Course certificatesDuring 2009, 14 certificates for completing a course program of 27 EC were awardedto the following DISC students:

• Alejandro Alvarez (TU/e-ME)• Jeroen de Best (TU/e-ME)• Snezana Djordjevic (TUD-DCSC)• Tijs Donkers (TU/e-ME)• Willem-Jan Evers (TU/e-ME)• Jan van Hulzen (TUD-DCSC)• Florian Kerber (RUG-IWI)• Ali Mesbah (TUD-DCSC)• Duy Cuong Nguyen (UT-EE)• Dunstano del Puerto Flores (RUG-ITM)• Erik Steur (TU/e-ME)• Samira Safaei Farahani (TUD-DCSC)• Aydin Tekin (TUD-DCSC)• Satyajit Wattamwar (TU/e-EE)

1.12.2 DISC Board Meetings in 2009The DISC Board met on March 24, June 2, September 9 and November 17. Themeetings took place in Utrecht, one in Eindhoven (November 17), one during the28th Benelux Meeting on Systems and Control (March 24) and one during theSummer School 2009 (June 2). Important agenda items were: selection and evaluationof DISC courses, IFAC World Congress 2017, Relation DISC-KIVI-NIRIA, BeneluxMeeting, Winter Course, Best Thesis Award, NWO Graduate Programme and SummerSchool.

1.12.3 Advisory Board meeting in 2009The 2009 meeting of the DISC advisory board was on November 17, 2009. Agendaitems were the positioning of Systems and Control and the strategic positioning ofDISC in the 3TU research and education cooperation (among which the 3TU MScprogramme Systems and Control), Reaccreditation of DISC, NWO GraduateProgramme application and IFAC World Congress 2017.

1.12.4 Management team meeting 2009The DISC management team met on March 17 in Spa, Belgium, during the 28thBenelux Meeting on Systems and Control. Agenda items in March were reportingactivities of DISC in the preceding year, the DISC teaching and course program,IFAC World Congress 2017, NWO Graduate Programme, 3TU-MSc initiatives andupcoming activities.

1.12.5 NWO Graduate Programme Application 2009In February 2009 DISC submitted an application for participation in the NWO GraduateProgramme (Pilot Programme) that offered 800K€ as funding for 4 PhD studentpositions to be awarded to high potential PhD candidates. The intention of theprogramme was to stimulate the connection of MSc and PhD programs, and to award

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PhD positions to high-potential candidates for executing their own research projectat a location chosen by themselves, after having had the opportunity to explore theresearch opportunities in several research groups. After having obtained very positivereviews, DISC was selected for an interview with the NWO jury, but finally was notselected to be among the winning applications.

1.12.6 Initiative IFAC World Congress 2017On the basis of a discussion within DISC and with KIVI-NIRIA, it was decided tosubmit to IFAC a letter of interest for the organization of the 2017 IFAC WorldCongress, to be held in Amsterdam. After the first round of selection that was heldin London in June 2009, out of seven proposals the Dutch proposal was selectedas one of the three countries (besides France and Japan) that were invited to preparea full bidbook, to be presented to IFAC during the IFAC Council Meeting in 2010 inBaltimore, USA.

The process of preparing this bidbook started in the Fall of 2009 and continued in2010.

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1.13 Financial report (in Eur)

In 2006 the Board of TUD decided to continue its support of DISC with a yearlybudget for the remaining part of the KNAW accreditation period until 31 December2010. This budget is mainly used for all operational costs related to the educationprogram as well as the office of the scientific director and the DISC secretariat.

DISC budget 2009

Realized/committedbudget 2009

Income

€ 85.000,00€ 85.000,00Contribution TUD

€ 8.550,00Course registration fees

€ 93.550,00€ 85.000,00TOTAL

Expenditure

€ 59.100,00€ 35.000,00Salaries

€ 18.000,00€ 20.000,00Course program

€ 12.800,00€ 20.000,00DISC Summer School 2009

€ 1.250,00Benelux Meeting 2009

€ 6.100,00Winter Course 2009

€ 5.000,00€ 1.250,00IFAC Membership fee

€ 4.100,00€ 4.750,00DISC Secretariat/Boardmeetings

€ 3.200,00€ 3.000,00DISC logo/web restyling

€ 700,00€ 1.000,00Infogids

-€ 16.700,00-Balance

€ 93.550,00€ 85.000,00TOTAL

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1.14 UNIT DISC

UNIT DISC is the council of research students of DISC.

They have regular contacts with the Scientific Director and also are responsible forthe course evaluations.

In 2008 UNIT DISC was coordinated by the following persons:• Gijs van Oort (UT-EE), [email protected], 053-4892778• Satyajit Wattamwar (TUe-EE), [email protected], 040-2463588• Amol Ashok Khalate (TUD-DCSC), [email protected], 015-2781362• Mark Mutsaers (Tue-EE), [email protected], 040-2473579• Ruiyue Ouyang (RUG-ITM) [email protected], 050-3633436, from September 1, 2009

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Delft University of TechnologyFaculty of Mechanical, Maritime and Materials EngineeringDelft Center for Systems and Control

General Information

AddressDelft University of Technology, Mekelweg 2, 2628 CD Delft, The Netherlands. Secretariat:phone: +31–15–2782473. Fax: +31–15–2786679. E-mail: [email protected]

Scientific staffprof.ir. O.H. Bosgra, prof.dr.ir. P.M.J. Van den Hof, prof.dr. C.W. Scherer, prof.dr.ir. R.Babuška, prof.dr.ir. B. De Schutter, prof.dr.ir. J. Hellendoorn, prof.dr.ir. M. Verhaegen,prof.dr.ir. E.G.M. Holweg, dr.ir. J.H.A. Ludlage, dr.ir M. Corno, dr.ir. A.J.J. van der Weiden,dr.ir. A.J.J. van den Boom, dr.ir. A.J. den Dekker, ir. A.E.M. Huesman, dr. P.S.C. Heuberger,dr.ir. X.J.A. Bombois, dr.ir. J.W. van Wingerden, dr.ir. G. Schitter, dr.ir. T. Keviczky, dr.ir. A.Abate,

Technical and administrative staffD. Noteboom, C.J. Slinkman, ing. W.J.M. van Geest, ing. R.M.A. van Puffelen, ing. A.P. vanDijke, ing. J.E. Seiffers, mw. C.J.M. Dukker, Ing. F.P.M. van der Meijden, mw. A.I. vanRegteren, mw. N. van den Berg-Moor, ir. O.K. Voorwinde, mw. S.M. van der Meer, mw.E.G.P. de Booij

PhD studentsM. van den Berg, R.M.L. Ellenbroek, J.F.M. van Doren, R.S. Blom, E.J. Trottemant, D.A.Joosten, S.K. Taamallah, J.R. van Hulzen, S. Djordjevic, H.M.N.K. Balini, H. Song, G.M.van Essen, J. van Ast, O. Naeem, P. Massioni, A. Mesbah, J.K. Rice, M. Gerard, I. Polat,I. Houtzager, S. Kuiper, S.K. Zegeye, A.A. Khalate, G.J. van der Veen, A. Simonetto, S.Farahani, S. Lin, M.D. Doan, A. Haber, P.M. Stano, Z. Hidayat, F. Pinchetti, J. Antonello, Z.Cong, N.B. Groot, I. Grondman, O.A. Tekin, dr.ir L.D. Baskar, Dr.ir. A.N. Tarau, ir. J.Veenman, dr.ir. J.F. Dong

Temporary staff and postdocsir. J.J. Koopman, dr.ir. D-P. Molenaar, dr. R.R. Negenborn, dr.ir. P.R. Fraanje, dr.ir. R.T.van Katwijk, dr.ir I.L. Busoniu, dr.ir Zs. Lendek, dr. B.A. Kulcsar, dr.ir. S.W. van der Hoeven,dr. A. Tejada Ruiz, dr.ir R. Toth, ir. M. Leskens, dr. N. Nikacevic, dr. H. Koroglu, dr. ir. D.Vries, dr. X. Wie, dr. G.A.D. Lopes

Cooperation withEnclosed is a list of long-term collaborative partners that are involved in joint researchprojects

FundamentalsUniversity collaboration: KTH Stockholm (S), University of Aveiro (P), Hungarian Academyof Sciences (H), University of New South Wales (AU), University of Caen (F), UniversitéCatholique de Louvain-la-Neuve (B), University of Antwerp (B), Free University of Brussels(B), University of California at San Diego (USA), University of Nancy (F), Australian NationalUniversity (AU), University of Linköping (S), Aalborg University (DK), Bogazici UniversityIstanbul (T), Jilin University (PRC), University of California at Los Angelos (USA), University


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of Stuttgart (GE), Eindhoven University of Technology (NL), ETH Zurich (CH), SupelecFrance (F), University of Siena (I), University of Ghent (B), University of Karlsruhe (GE),University of Cambridge (UK), University of Twente (NL). Industrial/Institutional collaboration:FEI (NL), Embedded Systems Institute (NL), The Scripps Research Institute (USA), TNODefense Security and Safety (NL), Royal Institute for the Marine, KIM (NL), EADS Astrium(GE), TNO (NL), Siemens AG (GE), ICIS consortium (NL).

Mechatronics and MicrosystemsUniversity collaboration: TUD Department PME/3mE, TUD Department BME/3mE, TUDFaculty of Aerospace Engineering, Eindhoven University of Technology (NL), Vrije UniversiteitAmsterdam (NL), Leiden University (NL), Graz University of Technology (A), University ofMunich (GE), Lund University (SE), Katholieke Universiteit Leuven (B), Université Libre deBruxelles (B), Technical University of Darmstadt (GE), University of the Federal ArmedForces Hamburg (GE), Budapest University of Technology and Economics (H), Politecnicodi Milano (I), University of California at Santa Barbara (USA).

Industrial/Institutional collaboration: Océ Nederland B.V. (NL), SKF (NL), Embedded SystemsInstitute (NL), Dutch Aerospace Laboratory NLR (NL), Veeco (USA), ESA ESTEC (NL),Philips AppTech (NL), Siemens (NL), LMS International (B), ERAS GmbH (GE), SiemensAG (GE), Renault Direction de la Recherche (F), Institute of Mechanics of Materials andGeostructures S.A. (G), VTT Technical Research Centre of Finland (F), Centro RicercheFIAT (I), KTH Royal Institute of Technology (S), MicroNed consortium (NL), Britisch Aerospase(UK), CIRA (I), Alenia (I), Israelian Arcraft Industry (Is), IOP Adaptive Optics (NL), IOPIntegrale Product Creatie- en Realisatie (NL).

Sustainable Industrial ProcessesUniversity collaboration: RWTH Aachen (GE), NTNU Trondheim (N), Department P&E/3mE,Department MSP/TNW, Faculty CiTG/TUD, Eindhoven University of Technology (NL).

Industrial/Institutional collaboration: PSE (UK), Shell Global Solutions (NL), Shell Explorationand Production (NL), Purac (NL), BASF (GE), TNO Industrie en Techniek (NL), IPCOS (NL),DHV (NL), Waternet (NL), Applicon (NL), DSM (NL), IHC (NL).

Automotive and intelligent transportation systemsUniversity collaboration: Eindhoven University of Technology (NL), TRAIL Research School(NL), TUD/CiTG (NL), TUD/TBM (NL), Katholieke Universiteit Leuven (B), University ofGhent (B).

Industrial/Institutional collaboration: TNO (NL), Rijkswaterstaat (NL), Siemens (D/NL), Shell(NL), Rups BV (NL), TNO (NL), Ministry of Transportation (NL), Witteveen+Bos (NL), NGIconsortium (NL), Transumo consortium (NL).

Participation in trans-national networksERNSI: European Research Network in System Identification.HYCON: Hybrid Control, Network of Excellence, EU 6th FP.SICONOS consortium: Modelling, Simulation, and Control of Non-smooth Dynamical Systems,EU 6th FP.INMAR consortium; European network for Intelligent materials for active noise reduction,EU 6th FP.

KeywordsComputational intelligence, condition monitoring, fault tolerant control, fuzzy modeling andcontrol, hybrid systems, inversion of non-linear systems, knowledge-based control,mechatronics, model-based control, multi–variable control, non-linear systems, parameterestimation, physical measurement systems, predictive control, real-time control, robotics,

Delft University of TechnologyFaculty of Mechanical, Maritime and Materials Engineering

Delft Center for Systems and Control

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robust control, servo-mechanisms, signal processing, system identification, traffic control,vehicle dynamics, x-by-wire.

Brief descriptionDelft Center for Systems and Control (DCSC) coordinates the education and researchactivities in systems and control at the Delft University of Technology.

The core research activity of the DCSC is twofold: the development of new theories andnumerical tools for modeling and control of dynamic systems, and the validation of thesenew contributions in engineering applications.

The deliberately selected integration of the fundamental research line with the applicationoriented one, creates the ideal platform to systematically address problems in emergingtechnologies and to stimulate the development of innovative industrial control technology.The fundamental research activities concentrate on the three major areas of model basedcontrol design, i.e.:

• modeling• system identification• controller design

The application oriented research aims at the adaptation and integration of fundamentalinnovations in laboratory demonstrations and for industrial pilot plants covering the followingapplication domains:

• industrial process control• mechatronics and micro systems• automotive and intelligent transportation systems• physical imaging systems

The research activities in these domains are multi-disciplinary in nature and for the first 3domains are defined in concurrence with the “Speerpunt” programs of Delft University ofTechnology.

Fundamentals

Research at DCSC covers a variety of conceptual and algorithmic aspects related to modelingof and controller design for dynamical systems. Addressed are first-principal modeling as wellas deterministic and statistical data-based system identification, including a description of thepotential plant-model mismatch. Techniques for analyzing and designing controllers includethe application of physical principles, semi-definite programming and nonlinear optimization,both for off-line and on-line implementation. Particular emphasis is laid on an understanding ofhow to synthesize structured, robust and fault-tolerant controllers for possibly largescale-systems, and on developing the related computationally efficient algorithms.


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DISC projects

Advanced identification and modeling of LPV systems

prof. P.M.J. Van den HofProjectleader:: R. Toth, P.S.C. HeubergerParticipants:NWOSponsored by:

DescriptionMany physical/chemical processes encountered in practice have non-stationary or nonlinearbehavior and often their dynamics depend on external variables like space-coordinates,temperature, etc. For such processes, the theory of Linear Parameter-Varying (LPV) systemsoffers an attractive modeling framework. This class of systems is particularly suited to dealwith processes that operate in varying operating regimes. Practical use of this frameworkis stimulated by the fact that LPV control design is well developed, extending results ofoptimal and robust LTI control theory to nonlinear, time-varying plants. However a majordrawback of the LPV framework today is that, despite the advances of the LPV control field,identification and first-principles based modeling of such systems is not well developed asthe current methods are unable to support practical control design.

This project aims at the development and application of a new LPV identification and modelingtools for nonlinear/time-varying systems, with the goal to bridge this obvious gap betweenLPV modeling and control. Based on a recent extension of the prediction-error frameworkto the LPV case, the whole identification cycle from model structure selection to estimationincluding experiment design is addressed to develop tools that can assist practicalapplications. In terms of estimation methods, extension of the classical model structureslike polynomial ARX, …, Box-Jenkins and also series expansion model structures likeOrthogonal Basis Functions models are addressed. In terms of first-principles based modeling,automated conversion tools are developed to convert high fidelity nonlinear/partial differentialequations based models to efficient LPV descriptions.

Analysis and Verification of Stochastic Hybrid Systems

A. AbateProjectleader:NWOSponsored by:

DescriptionStochastic Hybrid Systems (SHS) are dynamical models that are employed to characterizethe probabilistic evolution of systems with interleaved and interacting continuous and discretecomponents.

The formal analysis, verification, and optimal control of SHS models represent relevant goalsbecause of their theoretical generality and for their applicability to a wealth of studies in theSciences and in Engineering. Indeed in a number of practical instances the presence of adiscrete number of continuously operating modes (e.g., in fault-tolerant industrial systems),the effect of uncertainty (e.g., in safety-critical air-traffic systems), or both occurrences (e.g.,in models of biological entities) advocate the use of a mathematical framework, such as thatof SHS, which is structurally predisposed to model such heterogeneous systems.

In this project, we plan to investigate and develop innovative analysis and verificationtechniques that are directly applicable to general SHS models, while being computationally



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scalable. The first stage of the study entails mostly analytical work: the project aims atgenerating results that are both theoretically formal and computationally attractive. It willfurthermore develop dedicated software for the analysis of SHS.

The theoretical and computational outcomes will be tested in or applied to a number ofstudies, in particular to models drawn from Biology. This latter stage will thus involve thecollaboration with researchers from the Computer Science or the cooperation withexperimentalists from the Life Sciences.

Approximate reinforcement learning and dynamic programming for control

prof. B. De Schutter, prof. R. BabuškaProjectleader:I.L. BusoniuParticipants:SenterSponsored by:

DescriptionReinforcement learning (RL) can optimally solve decision and control problems involvingcomplex dynamic systems, without requiring a mathematical model of the system. OnlineRL algorithms do not even require data in advance; they learn from experience. If a modelis available, dynamic programming (DP), the model-based counterpart of RL, can be used.RL and DP are applicable in a variety of disciplines, including automatic control, artificialintelligence, economics, and medicine. However, to scale up to realistic control problems,RL and DP must employ compact, approximate representations of the solution.

In this project, we are investigating sound and efficient algorithms for approximate RL andDP, focusing on control applications.We study the convergence and performance propertiesof these algorithms, and evaluate them in comprehensive benchmarks on a range of nonlinearcontrol problems. In collaboration to MSc and BSc students, we investigate a number ofpractical issues in RL, such as applications to real-time robotic control and methods toaccelerate learning.

Behavioral approach to LPV systems

prof. P.M.J. Van den Hof,Projectleader:R. Toth, P.S.C. HeubergerParticipants:

DescriptionIn the system theory of Linear Parameter Varying (LPV) systems it has been recentlyobserved that in order to realize a given LPV state-space model as a polynomial input/outputform or vice versa, the coefficients of the representation must be allowed to depend on thefirst and higher order derivatives of the scheduling variable (continuous-time) or its timeshifted versions (discrete-time). The necessity of this so called dynamic dependence of thecoefficients has been also observed during the conversion of nonlinear models to LPVdescriptions.

The need of dynamic dependence clearly indicates that state-space and input/outputrepresentations used previously to define and specify LPV systems are not equal in termsof dynamics and also not physically motivated. Furthermore, the lack ofrealization/transformation theory associated with these representations hinders the use ofmany identification methods based on IO models, like the extension of successful predictionerror methods of the LTI case to provide state-space models for control synthesis. The lackof understanding of similarity transformation for state-space and input/output representations


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is also a source of many pitfalls both for identification and control synthesis in general .Furthermore, the collection of transfer functions of LPV state-space and input/outputrepresentations for each fixed value of the scheduling variable, the so-called frozen transferfunctions, does not specify the behavior of the system for non-constant scheduling trajectories,which is often overlooked in the literature. As no global transfer function theory exists in theLPV case, definitions of input-output behavior of representations need to be considered interms of solutions of these difference equations in the time-domain.These arguments indicatethat the classical definitions of LPV systems and the “assumed” similarity transformationconnected to them are inadequate, showing that the current LPV system theory is incomplete.

This project aims to show that a parametrization-free definition of LPV systems and analgebraic framework where the previously considered representations and concepts of LPVsystems are reestablished can be found by considering a behavioral approach to the problem.The behavioral framework, originally developed for LTI systems, is extended to LPV systems.In this framework systems are described in terms of behaviors that correspond to thecollection of all valid signal trajectories. Our aim is to use the behavioral concept to establishwell-defined LPV system representations as well as their interrelationships. Our furtherintention is to develop a unified LPV system theory that establishes connections betweenthe available results.

Distributed control of multi-agent systems on a mobile robot testbed

prof. R. Babuška, prof. B. De Schutter, Prof. G. LodewijksProjectleader:T. Keviczky, T.J.J. van den Boom, G.A.D. LopesParticipants:A. Simonetto, E. Stok, M. DuinkerkenPhD students:DCSC department, M&TT departmentSponsored by:

DescriptionThe problem of coordination and autonomous operation of groups of vehicles representschallenges that are becoming increasingly important to address for increased efficiency indiverse application areas such as transportation networks, logistics, high-performanceagricultural systems, and mobile sensor networks. Distributed, cooperative control is a keyenabling technology for such multi-agent systems.

The main research topic of the project is to investigate various methods and develop newtechniques in the area of distributed sensing and control for multiple mobile agents. Theresearch efforts will focus on algorithm and methodology development for multi-agent controlsystems with particular emphasis on developing and testing cooperative path planningmethods with coordination and consensus protocols in a distributed environment. Theproposed approach should consider constrained dynamics, where communication betweenagents is limited but at the same time necessary to achieve a common objective. Applicationexamples of interest include coordination tasks such as distributed path planning for groupsof automated harvesting vehicles, search-and-rescue operations, and mobile sensor networks.

The project will also involve setting up a mobile robot testbed, which will serve as a benchmarkfor the proposed control strategies and as a research and educational demonstration toolfor other students and researchers. This part of the work entails the design of the test setuparchitecture including the selection of appropriate off-the-shelf components (mobile robots,wireless communication, localization solution).

The mobile robot testbed is expected to be matured and enhanced with help from MSc andBSc students attracted through projects proposed and overseen by the research teammembers.



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To know more, look at: http://www.dcsc.tudelft.nl/~asimonetto

Efficient analysis and synthesis tools for robust and scheduled controllerdesign against time-varying and dynamic uncertainties

prof. C.W. SchererProjectleader:S.G. DietzParticipants:H. KorogluPhD students:STWSponsored by:

DescriptionIn recent years optimization based robust controller analysis and synthesis techniques haveemerged as powerful tools in numerous practical control applications. Despite impressiveprogress, the state of the art algorithms are unable to deal with large scale problems as theyexist in industry. In particular, there is a strong demand to better understand how mixturesof dynamic time-invariant and rate-bounded time-varying uncertainties can systematicallybe included in controller analysis and synthesis algorithms. This project aims at developinga framework that allows for these general uncertainty models, as they occur in practice, tobe included in the design.To break the complexity barrier, it is essential to exploit the specificproblem-structure and to employ relaxation schemes by which the conservatism of thecomputations can be reduced. Moreover, numerical reliability of the algorithms must beimproved. This fundamentally novel strategy leads to the second goal: development of thecorresponding robust and scheduled controller synthesis techniques, with the demonstrationof their applicability for regulating systems whose dynamics vary with time or nonlinearly.These schemes will involve a partition of uncertainty value sets such that robust or scheduledcontroller design will be intimately related to the design of multi-objective and switchedcontrollers for a large number of models.

Problems Currently under Investigation

• Robust Stability Analysis for Slowly Time-Varying Systems: We considertime-varying uncertainties and investigate the ways to reduce conservatism in stabilityanalysis. Taking into account the bound on the rate of variation of theuncertainty/uncertain parameters, we study this problem in generalized plant frameworkin two directions by employing LMI methods as efficient numerical tools:

• Develop robust stability tests using the well-known frequency domain methodsfor robust stability analysis (mu-analysis, D-scaling, IQC multipliers).

• Construct parameter-dependent Lyapunov functions in a systematic way suchthat we can more precisely answer the question of robust stability of an LPVsystem.

• LPV Design for Slowly Time-Varying Parameters: In order to reduce conservatism,we intend to employ in LPV design the robust stability tests that we develop for slowlytime-varying uncertainties within the study of the above problem.


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Fuzzy observers for nonlinear systems

prof. R. Babuška, prof. B. De SchutterProjectleader:Zs. LendekParticipants:SenterSponsored by:

DescriptionA generic method for the design of an observer valid for all types of nonlinear systems hasnot yet been developed. A large class of nonlinear systems can be represented byTakagi-Sugeno (TS) fuzzy models, which in theory can approximate a general nonlinearsystem to an arbitrary degree of accuracy.The TS fuzzy model consists of a fuzzy rule base.The rule antecedents partition a given subspace of the model variables into fuzzy regions,while the consequent of each rule is usually a linear or affine model, valid locally in thecorresponding region.

For a fuzzy model, well-established methods and algorithms exist to analyze the stability orto design fuzzy controllers or observers. Most of these conditions rely on the feasibility ofan associated system of linear matrix inequalities that are easy to solve, but are ratherconservative.

In this project, we aim to extend existing results and reduce their conservativeness, inparticular for distributed and adaptive systems. A possible application is state estimation fortraffic networks.

Game-theoretic methods for control of large-scale systems

prof. B. De SchutterProjectleader:K. StankovaParticipants:HYCON2Sponsored by:

DescriptionThis research focuses on game-theoretic concepts that could be employed for modelingcommunication and interaction between the various control levels in the control of large-scaleintelligent infrastructure systems such as road traffic networks. One of the major challengesin such control problems is how to optimize making decisions and taking actions on severalcontrol levels that mutually interact. The trade-offs due to the multi-objective character ofthe problems have to be taken into account, as well as possibly multiple objectives arisingfrom different control agents and different control levels.

A theory that seems to be particularly applicable to tackle these problems is the theory ofthe Stackelberg and inverse Stackelberg games, because in these games the hierarchyplays an important role.

The inverse Stackelberg games are leader-follower games in which the leader announceshis strategy as a mapping from the follower's decision space into his own decision space,while taking the possible reactions of the follower into account. The leader and the followermay have different and often conflicting objectives. Morover, the game may involve multipleleaders and followers.The inverse Stackelberg games can be thought of as a generalizationof classical Stackelberg games. The problem of finding the optimal strategy for the leaderbelongs to the realm of composed functions and these problems are known to be very difficultto solve in an analytic way.



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While there are many applications having the inverse Stackelberg game character, only alittle amount of theory is known about such problems and the theory that does exist is stillin its infancy, focusing on exploring specific phenomena by means of case studies. Little isknown about general properties of such games as well as about the inverse Stacklelberggames with incomplete information.

This project includes the following three phases:

In the first phase several case studies are considered. In these case studies optimizationand control system theory techniques (e.g. the Pontryagin minimum principle, the Ricattiequations, or finding the optimal strategy within the prespecified class of functions andshowing the global optimality of such a strategy a posteriori) are used in order to obtain theglobal solution, preferably in a closed form.

The second phase of the research focuses on game-theoretic methods that could beemployed for modeling communication and interaction between the various control levelsin the control of large-scale systems. The Stackelberg type of games seems to be a naturalframework to apply here, although this hypothesis still has to be validated.

In the third phase of the research the proposed game theoretic methods are applied in roadtraffic control.

Identification of non-linear systems: identifiability and experiment design

prof. P.M.J. Van den HofProjectleader:X.J.A. Bombois, P.S.C. Heuberger, R. TothParticipants:A.G. DankersPhD students:

DescriptionSystem identification is the scientific exercise that consists of determining a mathematicalmodel of a real-life process (the true system) based on input-output data. A very importantidentification method is the ``prediction error identification’’ method. In prediction erroridentification, models can be identified based on data collected both in open loop and inclosed loop. Based on these data, the model can be then determined within a given modelstructure by minimizing a least square criterion. The research in this project deals withprediction-error methods for the identification of non-linear systems. Fundamental researchquestions are:

What are the neccessary and sufficient conditions (such as conditions on the richness ofthe input signal) that lead to consistent identification of a particular nonlinear model structure?Potential nonlinear model structures that will be investigated includes the linear parametervarying (LPV) model structure.

What is the optimal experiment design for a particular nonlinear model structure (such asthe LPV model structure)?


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Least costly identification experiment for control

prof. P.M.J. Van den Hof,Projectleader:X.J.A. Bombois, M. Gevers (Université Catholique de Louvain, Belgium),G. Scorletti (Université de Caen, France), H. Hjalmarsson (KTH, Sweden),M. Barenthin (KTH, Sweden), M. Gilson (CRAN, France)

Participants:

DescriptionModel-based control has nowadays reached many industrial sectors (chemical industry,high-tech manufacturing industry, ...) as a crucial technology in realizing optimal processoperation. However, the development of model-based control is still restrained by variousopen issues in control and system theory. In most of these issues, the harmonious interactionbetween system identification and robust control design is very important. Since the beginningof the nineties, important steps have been taken towards this harmonious interaction. Indeed,it is now possible, given a model and its related uncertainty as delivered by systemidentification, to check whether a controller meets the robust performance requirements.However, until very recently, there was still a complete lack of results allowing the designof robust controllers based on cheap and plant-friendly identification. Indeed, until then, veryfew attention had been devoted on the choice of the data used to identify the model and itsuncertainty region and the lack of clear guidelines for the choice of these data generally leadto identification experiments that were more expensive than actually necessary, i.e. theidentified uncertainty region was either too large (and thus unusable) or smaller than strictlynecessary for the required level of performance. Knowing that the generation of informativedata for an identification experiment is the most expensive step of the whole robust controldesign procedure, the related economic loss could be very important.

Based on these considerations, a brandnew line of research has recently been defined.Thisresearch aims at developing tractable techniques for an optimal design of the identificationexperiment. In particular, the objective is to determine the least costly identification experimentthat delivers sufficient information on the true system dynamics (i.e. that delivers a modelwith a sufficiently small uncertainty region) for the design of a robust controller with asatisfactory performance.

In particular, the influence of short data sets and the extension of the concepts towardsperformance monitoring and robust filtering are currently investigated.

Model predictive control for discrete-event systems

prof. B. De SchutterProjectleader:T.J.J. van den BoomParticipants:

DescriptionModel predictive control (MPC) is a very popular controller design method in the processindustry. An important advantage of MPC is that it allows the inclusion of constraints on theinputs and outputs. Usually MPC uses linear discrete-time models. In this project we extendMPC to a class of discrete-event systems. Typical examples of discrete-event systems are:flexible manufacturing systems, telecommunication networks, traffic control systems,multiprocessor operating systems, and logistic systems. In general models that describethe behavior of a discrete-event system are nonlinear in conventional algebra. However,there is a class of discrete-event systems - the max-plus-linear discrete-event systems -that can be described by a model that is "linear" in the max-plus algebra. We have further



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developed our MPC framework for max-plus-linear discrete-event systems and included theinfluences of noise and disturbances. In addition, we have also extended our results todiscrete-event systems that can be described by models in which the operations maximization,minimization, addition and scalar multiplication appear, and to discrete-event systems withboth hard and soft synchronization constraints. Our current research in this context is focuson developing efficient algorithms for MPC for the classes of discrete-event systems describedabove, and on extending the approach to other classes of discrete-event systems.

Model predictive control for hybrid systems

prof. B. De SchutterProjectleader:T.J.J. van den Boom, I. NecoaraParticipants:STWSponsored by:

DescriptionBoth academia and industry have recently directed a considerable amount of research efforton hybrid systems. Hybrid systems typically arise when continuous plants are coupled withcontrollers that involve discrete logic actions. Although hybrid systems are encountered inmany practical situations, up to now most controllers for such systems are designed usingad hoc and heuristic procedures. Due to the complex nature of hybrid systems, it is infeasibleto come up with generally applicable control design methods.

In this project we focus on structured control design methods for specific classes of hybridsystems that are industrially relevant. These methods will be extensions of the modelpredictive control (MPC) framework for continuous systems, so as to include hybrid systems.The MPC scheme is nowadays very popular in the oil refining and (petrochemical) processindustry and has adequately proved its usefulness in practice. MPC offers attractive featuresthat makes this control approach also interesting and relevant for extension to hybrid systems.In this project we will develop high performance MPC controller design techniques for hybridsystems.

Currently, we have already obtained some initial results on MPC for special subclasses ofhybrid systems, viz. piecewise-affine systems and max-plus linear systems. In this projectwe keep on extending these results to other relevant classes of hybrid systems, and wethoroughly investigate and formalize the design process, improve optimization proceduresto realize real-time implementation, and use the results for practical problems of the partnersfrom industry.

This project is done in cooperation with the Control Systems group of Eindhoven Universityof Technology.

Modeling and control of distributed systems: system-identification basedon data

prof. M. VerhaegenProjectleader:P. MassioniPhD students:MicroNedSponsored by:

DescriptionWith few exceptions control problems with spatially distributed sensing and actuation up tonow have not been thoroughly studied in control theory due to the perception of theirtechnological infeasibility. Recently, however, technological progress is bringing dramatic


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changes to this picture. In particular, advances in micro-electro-mechanical systems (MEMS)make feasible the idea of microscopic devices with actuating, sensing, computing andtelecommunications capabilities. Distributing a large array of such devices in a spatialconfiguration gives unprecedented capabilities for control; examples already includedistributed flow control, "smart" mechanical structures, and Cross Directional control in thechemical process industry. For all these applications the control variables can be convenientlyand appropriately thought to be distributed in space, in addition to the internal states.Important questions that arise are (i) how to design control algorithms for these systemswith regard to global objectives; and (ii) how can these control algorithms be implementedin a distributed array, e.g. in a "localized" way. Needless to say that these questions can bestudied from many points of view, and internationally there is a strong emerging activitydevoted to exploring different lines of research.

This project aims to investigate control methodologies based on the identification. Suchmethods spring from the control methodology of the Delft Center for Systems and Control,and will lead to development of low order models for high performance feedback controlfrom experimental data. The first innovative research question is to develop identificationmethods for identifying models to approximate the dynamic behaviour of spatially distributeddynamic systems. The second is to integrate this identification procedure with a robustcontrol method for the class of spatially distributed models.

Nonlinear control systems analysis

prof. J.M.A. Scherpen, prof. M. VerhaegenProjectleader:T.C. Ionescu, T. VossParticipants:NWO, Senter, MicronedSponsored by:

DescriptionThis research focuses on extensions of linear realization theory to nonlinear control systems.The relation between input-output systems, Hankel operators, state-space realizations,minimality, and balanced realizations is considered. These considerations are important forapplications to model and controller reduction, numerical efficiency, nonlinear black boxidentification and order estimation, sensor and actuator placements, etc. A sequence ofpapers in this direction has been published.

The study towards the relation of Hankel operators, its factorization in an observability andcontrollability part, and their state-space realizations, has given rise to a generalization ofthe notion of Hilbert adjoint systems to the nonlinear case. This topic uses concepts fromphysical systems, namely, Hamiltonian systems and their extensions, Legendretransformations, etc. Based on these methods, a procedure towards a new balancing methodfor nonlinear system is defined, resulting in a procedure for model reduction that is part ofthe on-going research. So far, a constructive algorithm is part of the procedure, which aimsat the development of implementation tools.

Mechatronics and micro-systems

Control engineering methods are developed for mechatronic systems of the scale of millimetersand micrometers. Examples of applications are in adaptive optics where use is made of adeformable mirror with a large array of sensors and actuations, position control in a microcompact disk or hard disk, etc. Also on the macro-scale the DCSC collaborates with industrialpartners like Océ, IHC-Systems, SKF, TNO, etc. to develop control strategies for innovativemechatronic designs, such as X-by-wire steering or braking.



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DISC projects

Adaptive learning control for offshore windturbines

prof. M. VerhaegenProjectleader:J.W. van Wingerden, D.P. MolenaarParticipants:STWSponsored by:

DescriptionThe trend with offshore wind turbines is to increase the rotor diameter as much as possible.The reason is that the foundation costs of offshore wind turbines amount to a large part ofthe total costs. Therefore designers want to increase the energy yield (which increasesquadratically with the rotor diameter) per wind turbine as much as possible to reduce thecosts

The STW project "Smart dynamic rotor control of large offshore wind turbines" will contributeto the development of offshore wind energy by investigating the control of fatigue loads andactive damping of structural vibrational modes. The proposed way to go is the use of smartdynamic rotor control: every rotor blade will be controlled separately and the properties ofeach blade will be altered by making use of distributed control over the blade length. Thiswill be possible by making use of "Smart" actuators and sensors.

In this project an innovative approach of model based robust controller design will bedeveloped based on the strong past performance of the members of the DCSC. Thedevelopment of system identification tools for robust controller design will be extendedtowards Linear Parameter Varying (LPV) systems. Further, this fundamental experience willbe combined with the application expertise the DCSC has acquired in vibration reductionusing "Smart" materials.

Application of advanced control concepts to microfactory

prof. C.W. SchererProjectleader:H.M.N.K. BaliniPhD students:MicroNedSponsored by:

DescriptionA micro machining system based on conventional 3-D structuring/cutting technologies, isbelieved to open new frontiers for the manufacture of MEMS based components. Amechatronic design of a desktop micro machinery constitutes of components such as ActiveMagnetic Bearing (AMB) Spindle, Planar drive/bearing system, hybrid AMB/active air bearingspindle and high precision milling tool. Research is focussed on the following aspects in ageneric mathematical framework.

• Modelling of selected components, and disturbances.• Study of spindle-workpiece interaction for vibration supression.• Design of H-infinity controller(s).• Identification of model uncertainities.• Explore robustness issues and reduce order of controller from Mu-synthesis.• Explore controller synthesis within the LPV framework• Optimization studies with respect to componentwise and global performance.


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Automatic autorotation of a rotorcraft Unmanned Aerial Vehicle (UAV)

prof. P.M.J. Van den HofProjectleader:X.J.A. BomboisParticipants:S. TaamallahPhD students:NLRSponsored by:

DescriptionAutorotation is a rotorcraft flight condition in which the lifting rotor is driven entirely by actionof the air when the rotorcraft is in motion with an engine-out situation. During an autorotation,the main rotor is not driven by a power plant, but by air flowing through the rotor discbottom-up while the vehicle is descending rapidly. The power required to keep the rotorspinning is obtained from the aircraft's potential and kinetic energy. An autorotation is thusused when the engine fails in a helicopter, or when a tail rotor failure requires the pilot toshut down the engine. It is comparable to gliding in a fixed-wing aircraft without an operatingpower plant.

The objective of this project is to design an on-board automatic system which would kick inonce engine failure had been detected. Such a system could indeed improve the overallsystem safety of manned and unmanned helicopters. Its purpose would be to optimallymanage the available energy (potential, kinematic in airspeed and rotor RPM) at the instantof engine failure, and perform a safe landing.

Four main research areas have been identified in this project: (i) modeling of the helicopterflight dynamics, (ii) model validation, (iii) avionics and sensors data fusion, and finally (iv)control and optimal 3D flight.

Automatic generation of control software for mechatronic systems

prof. R. Babuška, prof. B. De SchutterProjectleader:G.A.D. LopesParticipants:SenterNovemSponsored by:

DescriptionDesign of a mechatronic system consists of many domains: mechanics, electronics,embedded hardware and software, and control. The design begins with the functionaldescription of the mechatronic system. In traditional design approach the design continueswith the mechanical design followed by the electronics design, and then the embeddedhardware and software co-design is completed. Finally the controller which will maintain theglobal behavior of the mechatronic system is designed and the control code is embeddedinto the system whose body is almost completed before control design phase.

What we want to achieve is a new design methodology for the design of mechatronic systemswhere the four domains: mechanics, electronics, embedded hardware and software, andcontrol designs are initiated right after the functional description of the system specifications.In this approach, we will need an integration framework to bring these domains together sothat all these four domains will interact with each other during the whole design process ofthe mechatronic system.

We will mainly focus on the integration of the control design and the electronics designincluding the embedded hardware and software design, basically the control board on which



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the generated control software will be validated to meet the system specifications, consideringthe real-time embedded systems programming issues.

The first thing to be done is to find a way to design controllers using the qualitative behaviorsof the plant to be controlled and the performance requirements for the closed loop controlsystem. We will investigate which qualitative parameters related to the plant and theperformance requirements are necessary to design the controller.

After having the qualitative behaviors, some quantitative parameters will be obtainedconsidering the timing issues for real-time implementation of the control algorithm on theactual hardware which is the control board. There will be interaction with the control designand electronics design domains in this sense of having the flexibility of choosing themicroprocessor's processing speed to meet the sampling time constraint, and choosing theA/D, D/A converters to meet the resolution needs, choosing the ROM, RAM size such thatall the control code and the data to be processed simultaneously can be fit in.

Control of haptic devices for tele-microassembly

prof. C.W. SchererProjectleader:I. PolatPhD students:MicroNEDSponsored by:

DescriptionAccurate control of haptic micro-assembly devices requires fine-tuned multivariableimpedance and admittance shaping for the realization of scaling for the two-sided interactionbetween micro- and macro-domains. A particular challenge arises from the inclusion ofstiffness directionality in order to avoid the damage of work-pieces. Model-basedH_infinity–synthesis is an ideal tool for optimal loop-shaping which has not been systematicallyemployed in haptic controller synthesis. As a second major challenge in general manipulatorsystems, one has to keep up stability and performance even if the slave (or operator) interactswith a strongly varying environment.

In haptic micro-assembly, the superposition of external forces acting on the workpiece leadsto position-dependent nonlinear characteristics. In order to avoid overly conservative designsbased on crude passivity techniques for ensuring stability and performance robustness, itis of fundamental relevance to develop suitably structured uncertainty models (suchmulti-variable sector-conditions on force nonlinearities) for the work-piece environment inhaptic micro-assembly.

As a substantial benefit, these techniques even offer the opportunity to design controllersthat adapt themselves to measurable changes of the environment in order to even furtherenhance performance. In view of the generic tuning-complexity, classical ad-hocgain-scheduling techniques seem inferior to recently developed one-shot algorithms foroptimization-based scheduled controller synthesis, and their extension to dynamic integralquadratic constraints which are currently under development. Thus it would be beneficiaryif the state-of-art modelling techniques can be modified in order to obtain a parameter-varyingmodel so that current advances regarding LPV gain-scheduled controller design can beapplied.


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Data-driven control for the next generation of wind turbines

prof. M. VerhaegenProjectleader:J.W. van WingerdenParticipants:G.J. van der VeenPhD students:Vestas Wind Systems A/SSponsored by:

DescriptionAn ongoing trend in wind turbine development is the increase in rotor size. These largerotors inherently become more flexible and introduce more interaction between blades andtower. Several new technologies have been conceived to reduce loads on these future windturbines. Among these are individual pitch control (IPC) and the smart rotor, where distributedtrailing edge flaps are used to influence the lift locally. To allow effective control of fatigueand extreme loads, new measurement techniques are being developed such as LIDAR andlocal flow measurements. Such measurement techniques may allow a degree of feed-forwardcontrol by anticipating wind disturbances.

In this research programme we investigate data-driven methodologies to design controllersfor future wind turbines. These include, for example, novel system identification techniques,online disturbance modelling and efficient model predictive control.The basis for all methodsis formed by numerically reliable and robust algorithms from the fields of linear algebra andconvex optimisation.

Distributed control of multi-agent systems on a mobile robot testbed

prof. R. Babuška, prof. B. De Schutter, Prof. G. LodewijksProjectleader:T.J.J. van den Boom, T. Keviczky, G.A.D. LopesParticipants:A. Simonetto, E. Stok, M. Duinkerken,PhD students:DCSC department, M&TT departmentSponsored by:

DescriptionThe problem of coordination and autonomous operation of groups of vehicles representschallenges that are becoming increasingly important to address for increased efficiency indiverse application areas such as transportation networks, logistics, high-performanceagricultural systems, and mobile sensor networks. Distributed, cooperative control is a keyenabling technology for such multi-agent systems.

The main research topic of the project is to investigate various methods and develop newtechniques in the area of distributed sensing and control for multiple mobile agents. Theresearch efforts will focus on algorithm and methodology development for multi-agent controlsystems with particular emphasis on developing and testing cooperative path planningmethods with coordination and consensus protocols in a distributed environment. Theproposed approach should consider constrained dynamics, where communication betweenagents is limited but at the same time necessary to achieve a common objective. Applicationexamples of interest include coordination tasks such as distributed path planning for groupsof automated harvesting vehicles, search-and-rescue operations, and mobile sensor networks.

The project will also involve setting up a mobile robot testbed, which will serve as a benchmarkfor the proposed control strategies and as a research and educational demonstration toolfor other students and researchers. This part of the work entails the design of the test setup



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architecture including the selection of appropriate off-the-shelf components (mobile robots,wireless communication, localization solution).

The mobile robot testbed is expected to be matured and enhanced with help from MSc andBSc students attracted through projects proposed and overseen by the research teammembers.

To know more, look at: http://www.dcsc.tudelft.nl/~asimonetto

Fault-tolerant control of industrial systems

prof. M. VerhaegenProjectleader:J.F DongPhD students:Eruopean Marie Curie FP6 Research Training Programme, SKFSponsored by:

DescriptionIn many motion and control systems the controlled process generally consists of: an actuator,a control loop (e.g. software) and feedback information (sensors). Failures in one of thesecomponents normally lead to unacceptable performance of the system. In many casesthough, the failure itself is not that critical, it is the combination with the control loop or thefeedback elements that might lead to an unstable system or unacceptable systemperformance. By detecting the failure and subsequently adaptation of the control loop in theprocess, the performance might be adjusted to a level that is still within acceptable limits.The detecting of failure as well as the adjustment of the control loop is defined as 'FaultTolerant Control'.

The goal of fault-tolerant control is to prevent those simple faults in a system or its sensorsand actuators develop into serious failures. Fault-tolerant control increases the availabilityof the system and reduces the risk of safety hazards. To achieve fault-tolerant control,intelligent methods needed to be developed for on-line fault detection and diagnosis,automatic condition assessment and calculation of remedial actions or controllerreconfiguration.

In this research topic the focus will be on novel fault-tolerant control methods and to applyand test them on the drive-by-wire systems of SKF.

High-speed atomic force microscopy

G. SchitterProjectleader:S. Kuiper, J.R. van Hulzen,PhD students:NWO, Delft University of TechnologySponsored by:

DescriptionAtomic force microscopes (AFM) enable insights into the nanoworld, visualizing even singlemolecules and atoms. Taking images, however, is time consuming and does not allowobservation of dynamic processes on the nanometer scale with the required temporalresolution.

In this project the research focuses on key challenges for the next generation of AFMs,which are based on a new mechanical design in combination with high-performance controltechniques. A new generation AFM is developed that will be used for real-time imaging (upto video-rates at 25 frames per second) e.g. of biological processes. This new instrumentwill enable experiments that investigate significant problems in nanotechnology and


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biotechnology. It will be possible to study biological and chemical processes on the molecularlevel in real-time as they occur in nature.

This series of images of rat tail collagen illustrates how high-speed AFM allows zooming inon areas of interest rapidly [1]. Collagen's characteristic 67-nm banding pattern is clearlyresolved. This entire zoom series was taken in less than 1 second. A conventional AFMwould need about 15 min of imaging to obtain a comparable series of images.

[1] P.K. Hansma, G. Schitter, G.E. Fantner, C. Prater, Science 314, 601 (2006)

Intelligent control of legged robots

prof. R. BabuškaProjectleader:G.A.D. LopesParticipants:Delft University of TechnologySponsored by:

DescriptionThis project aims to study various classes of machine learning tools applied to real leggedrobots.

Nature provides the best inspiration for the field of robotics. The complex neuromechanicaltools inherited through DNA endows animals with a collection of sophisticated reactive andlearning capabilities. In this project we take inspiration from nature to focus on the study ofspecific machine learning tools applied to concrete robotics applications. Reinforcementlearning, thanks to its attractive bio-inspired mathematical framework, is our main tool ofresearch.

The multi-disciplinary nature of this project encompasses the following topics:• Low level control of nonlinear hybrid dynamical systems via traditional control

methodology combined with machine learning tools. This includes the synthesis ofmotion gaits and energetic optimizations of motion.

• Supervisory control for navigation augmented with identification/fault detection andfault tolerant control.

• Hardware/software development of a modular high dynamical robotic platform.• The development of a vision sensor for odometry and integration of exteroceptive

sensors with inertial measurements for state estimation and fault detection.

Mechatronic redesign for active control of a micro fluid jet system

prof. O.H. BosgraProjectleader:M.B. Groot WassinkParticipants:Oce Technologies B.V.Sponsored by:

DescriptionIn this research project, a printhead is investigated as example of a micro fluid jet system(see figure below). A basic printhead configuration consists of a certain number of channelseach actuated by a piezo-actuator. A pressure wave created through actuation of thepiezo-actuator is amplified which results in the emitting of a droplet at the nozzle of a channel.The shape of the channels together with the wave form of the pressure field are thereforecrucial to the performance of the printhead. Minor actuated modifications on the wave shapeunder realtime control might considerably amplify the performance. From these considerationsstems the idea of the manipulability of the resonator functionality of the printhead by meansof active control.



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To make optimal use of abilities of active control, a mechatronic redesign of the printheadis required. For one, proper sensor functionality should be build in. This requires a thoroughphysical understanding of the printhead that involves a comprehensive model describingthe influence of all relevant parameters. At the same time, this knowledge is needed todesign sensible controllers for the printhead. Practical applicability is to be shown using atest-rig that is available to perform measurements and validate results.

Model-based sub-nano positioning control systems

prof. P.M.J. Van den Hof, prof.dr.ir. J. van Eijk,Projectleader:G. SchitterParticipants:J.R. van HulzenPhD students:Delft University of TechnologySponsored by:

DescriptionA common tool for inspection and manipulation in the nano and sub-nanometer range is thescanning probe microscope (SPM). In most SPM applications the required range is in themicrometer range with a high accuracy scanning area of 50-100 nm2. Recently SPM’s havingthe ability to scan at video rate have started to emerge. For these applications high bandwidthmotion control is required.

The goal of the project is to research actuation for position and motion control under extremedemands on bandwidth and accuracy.

Historically probe positioning is controlled using piezo electric actuators. Piezo actuatorshave high mechanical stiffness and can operate at the required accuracy and bandwidth.They do however exhibit hysteresis type non-linear behavior, thermal drift and creep. Usingfeedback we can address these problems. Non-linear control schemes like Preisach modelinversion and feedback linearization have been proposed. However, due to their complexityand reliance on exact models they are difficult to implement in high bandwidth applications.Our aim is to provide bandwidth and stability by using simple control in combination withload balancing. By matching actuator and load we can use the driven load to damp theresonant modes of the actuator dynamics enabling high bandwidth without the need toprovide damping electrically.

Neuro-fuzzy modeling in model-based fault detection, fault isolation andcontroller reconfiguration

prof. M. Verhaegen, prof. R. BabuškaProjectleader:dr.ir. R. Hallouzi, dr.ir. S. KanevParticipants:STWSponsored by:

DescriptionThe aim is the development of fast and reliable algorithms for fault detection and diagnosis(FDD) and controller reconfiguration (CR). In control systems, faults are events that couldcause unwanted behavior or a catastrophe of the controlled system. The design of FTCsystems has therefore the purpose to prevent the degradation from simple faults into serioussystem failures, since system failures might lead to huge economical and human losses. Afault-tolerant system consists of two main parts (see Figure 1): one that has the task todetect and diagnose faults that occur in the control system, and another that reconfigures


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the controller accordingly, whenever faults occur in the system, so that the performance ofthe reconfigured faulty closed-loop system is preserved at some desired level.

The goal in the project is the development of numerically fast and robust algorithms foron-line implementation, applicable to the problems of FDD and CR in cases of both abruptand incipient system faults in the sensors, actuators and physical parameters in the system.The project is subdivided into two work packages, one dealing with fault detection andisolation (researcher R. Hallouzi, started in 2004), and another focused on the problem ofcontroller reconfiguration (researcher S. Kanev, 1999-2003).

Within Work Package I the main focus is put on the following items:• the augmented Kalman filter for the estimation of multiplicative and additive sensor

and actuator faults,• LPV based FDI for dealing with non-linear systems.• FDI methods that provide information on the uncertainty of the identified faults.• evaluation of FDI methods on a non-linear aircraft model that may include component

faults.

Within Work Package II different approaches have been developed:• FTC based on multiple-model estimation and predictive control,• reconfiguration strategies for robust LQ regulator/Kalman filter,• a BMI approach to passive FTC,• an ellipsoid algorithm for probabilistic robust controller design,• active LPV-based FTC in the presence of uncertainty in the FDI,• a randomized approach to robust output-feedback MPC.

Vibration isolation and suppression applied to mechanical servo-systems

prof. O.H. BosgraProjectleader:M.I. Parra Calvache, P. ValkParticipants:Delft University of Technology, SIMONA Research InstituteSponsored by:

DescriptionThe SIMONA Research simulator is a lightweight re-configurable cockpit mounted over a6-DOF motion platform. It is desired that this simulator work with a wide bandwidth, from10Hz to 15Hz, that would allow the simulation of special conditions. The requirements ofhigher speed and acceleration, and the desired high performance forced the use of lighterstructures that have as drawback higher flexibility and more susceptibility to unwantedvibrations. Within this framework, it is our main interest to compensate for bending andvibrations over the components of the video display system, namely the projectors, the backprojection screen and the mirror and to allow the high performance use of the motion hydraulicsystem for the simulation of special conditions. As a first approach, it is important to analyzethe interaction between Video Display System components and how their performance isaffected by the reference motion necessary to give the pilot the impression of real flight.This clearly involves knowledge over the flexible-multi-body cockpit structure and videodisplay system. For this end, we will use experimental modelling tools giving emphasis toidentification of multivariable systems in closed-loop and modal identification for mode shaperepresentation. Further, we want to suppress unwanted vibration that deteriorates not onlythe performance but eventually the structural integrity of mirror or screen. As a first approachinput shaping algorithms will be studied as passive damping technique keeping openpossibilities of extra feedback (signals related to the performance of the Video DisplaySystem) aiming to a final active control of vibration of the cockpit structure.



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Industrial processes

The relevant trends in process industry could be summarized as: better profitability, increasedflexibility and the incorporation of sustainability. The current research focus is on profitabilityand flexibility and could be summarized as model-based control/optimization of ``difficult'' unitoperations and complete plants. In this research three aspects can be recognized: Modeling:this includes modeling, validation, identification and reduction. After modeling we should endup with a model that has sufficient accurate predictive power at acceptable computational cost.Observation: Attention is paid to extended Kalman filters and horizon estimators.Control/optimization:The research in this area concentrates on dynamic optimization (sequentialand simultaneous approach) but also on the integration of control and optimization.This researchis done in close cooperation with the process industry: Bayer, Shell, Solvay, AKZO, Unilever,...

DISC projects

Adaptive State Estimation and Control of a Hopper Dredger

prof. R. BabuškaProjectleader:Zs. LendekParticipants:P.M. StanoPhD students:IHC Systems B.V.Sponsored by:

DescriptionThe trailing suction hopper dredger (TSHD) is a ship that excavates sand and sedimentsfrom the sea bottom while sailing. Modern TSHDs are advanced ships, equipped with manylocal automation systems controlled from the bridge via a computer system. A comprehensivemathematical model has been developed in previous research, integrating severalsub-processes. The model is used as a basis for model-based predictive control.

The main challenge for a successful adoption of the existing techniques in practice is thestrongly time-varying nature of the underlying processes and disturbances. The presentresearch project aims at the extension of the existing results to on-line (real-time) algorithmsto estimate parameters that strongly vary in time, such as the soil type dependent parameters,the estimation of the states of the system and subsequently the development of adaptiveand learning control methods.

The main research topic of this research project is to investigate various methods anddevelop new techniques for adaptive estimation and control that can be applied for theperformance improvement of a hopper-dredger. The research efforts is focus on algorithmand methodology development for distributed control systems with emphasis on developingand testing methods for parameter and state estimation in an uncertain environment.


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Advanced Autonomous Model-Based Operation of Industrial ProcessSystems

prof. P.M.J. Van den HofProjectleader:X.J.A. Bombois, J.H.A. LudlageParticipants:A. MesbahPhD students:European Union via the Seventh Framework Programme for research andtechnological development (FP7).

Sponsored by:

DescriptionThis project is a joint endeavor of an international consortium of industrial and academicpartners. Academic partners are Delft University of Technology (The Netherlands), EindhovenUniversity of Technology (The Netherlands), RWTH Aachen (Germany) and KTH Stockholm(Sweden).The industrial partners are ABB (Sweden), Boliden (Sweden) and SASOL (SouthAfrica).

The cost related to the industrial implementation of current model-based operation supportsystems, like Model Predictive Control (MPC), Real-Time Optimization (RTO) and soft-sensorsfor large-scale complex dynamic processes are currently very high. Moreover it is widelyrecognized that the life-time performance of these systems is rather limited, particularly dueto the fact that the underlying dynamic models need to be adapted/calibrated regularly,requiring dedicated measurement campaigns executed by highly specialized engineers.Given the importance of increasing demands on economic and sustainable process operation,there is a strong need to reduce the costs and increase the performance of model-basedoperation support systems. Therefore in this project a model-based operation supporttechnology is developed that enables control and model calibration at a considerable higherlevel of autonomy than currently possible. The technology to be developed operates on thebasis of the least costly principle.The influence of the invasive testing on process’ operationand economics will be minimised, to the extent possible given the necessary accuracy ofthe resulting identified model. Moreover all decisions are based on an economic trade-offbetween process operation costs and benefits. This operation support system should beable to optimise plant performance under varying operational conditions and adapting tochanging circumstances.

Artificial intelligence for the control of a hopper dredger

prof. R. BabuškaProjectleader:J.B. Klaassens, C. de KeizerParticipants:J. BraaksmaPhD students:IHC Systems, SenterSponsored by:

DescriptionThis project is a cooperation of the Delft Center for Systems and Control with IHC Systems,a company specialized in the development and manufacturing of automation systems fordredgers. Although modern trailing suction dredgers are equipped with advanced dynamicpositioning and tracking systems, there is need for an on-board decision-support systemthat will advise the operators on a control strategy leading to optimal dredger performanceunder given operating conditions.

The dredging process can be subdivided into two main subprocesses: trailing (propulsionof the ship) and dredging (excavation of the soil from the sea bed and its transport to the



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ship). Set-points for manipulated variables influencing these processes are determined bytwo human operators. Consequently, the performance and efficiency of the entire dredgingprocess heavily depend on the experience and insight of these operators.

Changes of external variables that have large influence on dredging efficiency, such as thetype of soil, dredging depth, water current, etc., require that the operators must constantlychange the important settings of the manipulated variables. These include the propellerpitch, the pump drives, the visor angle, swell compensators, etc., when these actuators arecontrolled manually, or the corresponding set-points for trail speed, mixture speed, soil-watermixture density, etc., when controlled automatically.

An important constraint is the limited amount of energy available on-board. Proper distributionof the energy among the different subprocesses is thus crucial. In addition, different operatingstrategies can be used in different dredging projects, such as the maximization of theproduction rate vs. optimization of efficiency and awareness of maintenance and fuel costs.

The goal of this project is to develop an adaptive decision-support system that will advisesthe operators on the most suitable control strategy, given a specified goal, such as theminimization of the integral dredging costs per m3 or the maximization of the production pertime unit. The system will make use of available knowledge in the form of (partial)mathematical models of the process and will also involve on-line learning and adaptationduring operation.

Block structured based model reduction

prof. O.H. BosgraProjectleader:A.E.M. HuesmanParticipants:O. NaeemPhD students:Eurpean Commission, ProMATCH, Delft University of TechnologySponsored by:

DescriptionComputational effort (simulation time) has been one of the concerns of modern systemsand control research. Large scale industrial process models require lot of computationaleffort, which is vital, if the model has to be used for closed-loop control and optimizationpurposes. Model reduction has been considered as one of the method to achieve acceptablecomputational effort.There are different perspectives of model reduction for example, linearsystem theory, projection based model reduction, time scale based model reduction,identification based etc. In this research, the focus has been on identification based modelreduction. Models with Hammerstein structure have been used to identify and yield a reducedmodel. Hammerstein model consists of a static non-linear block, followed by linear dynamicblock.

It is expected, that this methodology and structure will help to achieve the goals. Themethodology has been applied on a benchmark. Satisfactory results have been accomplishedas far as identification is concerned. Computational effort has to be investigated for morecomplex benchmarks in future (for example; high purity distillation column).


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Control in reservoir engineering under model uncertainty

prof. P.M.J. Van den Hof, prof. O.H. BosgraProjectleader:M.J. ZandvlietParticipants:Shell, TNOSponsored by:

DescriptionThe past few years have seen an increase in the application of system and control conceptsin reservoir engineering, all aimed at increasing the value of a reservoir.

However, the control schemes involved are often based on an inherently uncertain reservoirmodel, due to the geological complexity of the reservoir at hand.

The goal of this project is to develop control and optimization techniques for the optimaloperation of reservoirs on the basis of dynamic models containing quantified modeluncertainties. The relevant geological uncertainties must first be quantified in a systematicway, and then taken into account in a subsequent optimization scheme.

Economic optimal plantwide control

A.E.M. HuesmanProjectleader:Delft University of TechnologySponsored by:

DescriptionThe objective of plantwide control (the control of a complete chemical plant) can be formulatedas:

• support (not guarantee) safety,• realize the required conversion,• minimize the operating costs.

It should be noted that the three aspects of the objective are mentioned in the order ofeconomic importance.The support of safety is essential to avoid (economic) loss, the requiredconversion is a necessary condition to make profit and minimizing the operating costs leadsto maximum profit.

There are at least two approaches to realize this objective. The first approach is traditional.This approach focuses on the required conversion and tries to realize this by control. Ifnecessary or possible the support of safety and the minimization of the operating costs isalso handled by control. An advantage of this approach is that it leads to control problemsthat can be solved easily real-time. A disadvantage is that it does not minimize the operatingcost to the lowest possible level, so potential profit is lost. Another disadvantage is that thetraditional approach only works well for continuous processes. The second approach usesthe objective to formulate a dynamic optimization problem. The optimization approach isattractive since it leads to economic optimal plantwide control. Furthermore it can not onlyhandle continuous processes but also batch processes. However the typical size of theoptimization problems involved is considerable (the number of variables and equations is ).And the effect of disturbances can only be taken into account by repeating the optimizationreal-time.The current research concentrates on the question how to solve large optimizationproblems real-time (in a plantwide control context).



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Exploiting the interface between process intensification and process control

prof. P.M.J. Van den Hof, prof. A.I. StankiewiczProjectleader:N. Nikacevic, A.E.M. HuesmanParticipants:Delft Centre for Sustainable Industrial ProcessesSponsored by:

DescriptionProcess intensification (PI) aims to significant improvement of process efficiency byimplementing novel principles to process design. Additional benefits could be achieved byadvancing the operation and the control of intensified processes. An innovative approach,which implies actuation enhancement and full integration of process design, operation andcontrol, will be investigated in this project.

In comparison to conventional processes, intensified processes have specific dynamic andoperating characteristics. These are elevated barriers for operation and control, which areexamined and illustrated by means of examples in the project. Moreover, realization ofmodern model-based control of PI systems faces technical challenges, at the first place alack of accurate and reliable mathematical models for novel processes, as well as thoserelated also to the classical processes systems: non-efficient model reducing algorithmsand realization of a non-linear model predictive control system. These issues are reviewedin the project in detail.

Traditionally, process synthesis consists of three consecutive phases. Although this conceptis well established in practice, it does not allow the interaction of design and control andtherefore it is usually suboptimal from both economic and control standpoint. A new integralapproach, based on dynamic optimization, is developed and studied by means of theindustrially relevant examples. In the first stage of the new concept, the integral approachprovides both optimal process design and optimal operation. In second phase, controllabilityanalysis for the optimal solution is performed, while the third stage implies control design.This concept includes various process intensification methods and examines possibleactuation enhancements like: spatial actuation for distributed systems (e.g. for microreactors),the use of alternative driving forces for actuation (e.g. microwaves for optimal temperatureprofiles), time-varying actuation of feeding or unsteady state operation, etc.

Grey-box modeling and plant-wide integrated control of water purificationprocesses

prof. R. Babuška, prof. J.M.A. ScherpenProjectleader:K.M. van SchagenPhD students:SenterSponsored by:

DescriptionThis project, called Promicit (Process Modeling and Integrated Control of Water Treatment),is a cooperation between Amsterdam Water Supply, ABB, DHV and the Delft University ofTechnology - Department of Civil Engineering and Delft Center for Systems and Control.

Currently, water treatment plants are primarily controlled by experienced operators, basedon laboratory and on-line measurement of water quality parameters. The goal and thechallenge of this project is to develop models of the complete water purification plant, byusing first principles (chemical, biological and physical) as well as novel gray-box, data-driventechniques. Based on these models, an automatic control system will be designed for


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integrated, plant-wide control of the entire process chain. This system can be used both foron-line process control and for decision support. The main treatment steps considered inthis project are ozonation, softening and biological active carbon filtration. It is expected thatby using advanced modeling and control techniques, water supply companies will gain moreinsight in the operation principles of the plant, improve monitoring, prediction and control ofthe processes and thus will consistently produce high-quality drinking water.

In a first pilot study, a model-based predictive controller for the softening process stage wasdeveloped. This process was selected as it is relatively independent of the other treatmentsteps, the chemical and physical principles are well understood and a sufficient number ofsensors and actuators are available. The softening controller should maintain the desiredwater hardness and at the same time minimize the super-saturation of calcium in order toprevent calcium deposits in later water treatment steps.

First, a model was developed within the Stimela environment under Matlab and Simulink.Sensitivity analysis has been conducted on this model to identify the most importantparameters and to compute the uncertainty bounds in the predicted outputs.The parametersof the model were optimized by using process data. A hierarchical control structure wasproposed to comply with the requirement of constant effluent hardness and minimalsuper-saturation. A supervisory control level is responsible for determining optimal waterflow and reactor effluent hardness set-points. Local controllers take care of the actual controlof the individual softening reactors. The performance of the local controller was evaluatedin four different scenarios and it was compared with the controller currently used in the plant.

Least costly identification experiment for control

prof. P.M.J. Van den HofProjectleader:X.J.A. Bombois, M. Gevers (Université Catholique de Louvain, Belgium),G. Scorletti (Université de Caen, France), H. Hjalmarsson (KTH, Sweden),M. Barenthin (KTH, Sweden), M. Gilson (CRAN, France)

Participants:

DescriptionModel-based control has nowadays reached many industrial sectors (chemical industry,high-tech manufacturing industry, ...) as a crucial technology in realizing optimal processoperation. However, the development of model-based control is still restrained by variousopen issues in control and system theory. In most of these issues, the harmonious interactionbetween system identification and robust control design is very important. Since the beginningof the nineties, important steps have been taken towards this harmonious interaction. Indeed,it is now possible, given a model and its related uncertainty as delivered by systemidentification, to check whether a controller meets the robust performance requirements.However, until very recently, there was still a complete lack of results allowing the designof robust controllers based on cheap and plant-friendly identification. Indeed, until then, veryfew attention had been devoted on the choice of the data used to identify the model and itsuncertainty region and the lack of clear guidelines for the choice of these data generally leadto identification experiments that were more expensive than actually necessary, i.e. theidentified uncertainty region was either too large (and thus unusable) or smaller than strictlynecessary for the required level of performance. Knowing that the generation of informativedata for an identification experiment is the most expensive step of the whole robust controldesign procedure, the related economic loss could be very important.

Based on these considerations, a brandnew line of research has recently been defined.Thisresearch aims at developing tractable techniques for an optimal design of the identification



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experiment. In particular, the objective is to determine the least costly identification experimentthat delivers sufficient information on the true system dynamics (i.e. that delivers a modelwith a sufficiently small uncertainty region) for the design of a robust controller with asatisfactory performance.

In particular, the influence of short data sets and the extension of the concepts towardsperformance monitoring and robust filtering are currently investigated.

Nonlinear Model Predictive Control of MSWC plants

prof. P.M.J. Van den Hof, prof. O.H. BosgraProjectleader:TNOSponsored by:

DescriptionThe incineration of municipal solid waste (MSW), i.e. household waste, is used for thereduction of the amount of waste and for the production of energy. It is typically performedat a plant of the form that is depicted below.

Such a MSW combustion plant is subject to both economic and environmental operationaland, thereby, control objectives. Economic objectives are e.g. maximization of the wastethroughput, maximization of the energy output and maximization of the lifetime of thecomponents of the MSW combustion plant. Environmental objectives are e.g. upper boundsimposed on potentially contaminating components of the flue gas. Part of these objectivesare supporting each other, for example maximization of the waste throughput impliesmaximization of the energy output, and part of the objectives are conflicting, for examplethe objective of maximization of the waste throughput and energy output conflicts with thedemand of maximizing the life time of the components of the MSW combustion plant.

Among many MSW combustion plant managers there is a need to improve their processoperation performance. This is due to the ever becoming more stringent environmentalregulations and ever growing higher energy demands. An essential tool that these managershave available for the fulfilment of the ever becoming higher and tighter economic andenvironmental objectives is (apart from operators) a combustion control system (which, bythe way, does not contain the flue gas cleaning equipment). Such a combustion controlsystem is typically a network of proportional and, sometimes, integrating (PI) controllerswhich at best fulfils the mentioned objectives in a suboptimal manner. An alternative whichis thought to be able to deliver a much better control performance than such conventionalcombustion controllers is model predictive control (MPC).The reason(s) for this expectationis that MPC is thought to be able to deal much better with the following typical characteristicsof the MSW combustion control problem: (i) multiple, conflicting objectives, (ii) themultivariable interacting nature of the process and (iii) constraints.

The aim of the research project is to investigate the feasibility of MPC as a tool for improvingthe process operation performance of MSW combustion plants. Aspects of the researchare, amongst others, (i) modelling of MSW combustion plants via linear system identificationtechniques and (ii) nonlinear MPC using a first-principles model that describes the maindynamical phemona taking place during the MSW combustion process and which is of lowcomplexity (i.e. with respect to the number of (differential) equations of the model). If allworks out well, (N)MPC will be tested on a real-life large-scale MSW combustion plant.


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System identification of hydrocarbon reservoirs

prof. P.M.J. Van den Hof, prof. J.D. Jansen, prof. O.H. BosgraProjectleader:J.F.M. van DorenPhD students:ShellSponsored by:

DescriptionClosed-loop reservoir management is an emerging topic in the oil industry. In this approachthe system is the hydrocarbon reservoir including wells and surface facilities, and the goalis optimal performance of the system. Performance can mean a higher net present value ofthe reservoir or the reduction of uncertainty. Closed-loop reservoir management containsaspects such as model reduction, model-based optimization and system identification andupdating.

The focus of this project is on system identification and parameter estimation withinclosed-loop reservoir management, with the aim to quantify and reduce the uncertainty ofthe reservoir model by assimilating information contained in measurements. In reservoirengineering this is called "history matching". The reservoir model is large-scale (possiblycontains millions of states and parameters), nonlinear and has multiple inputs and outputs.One method that can deal with these kind of models is the Ensemble Kalman filter. Thismethod is investigated together with possible improvements.

Imaging and adaptive optics

The research activities of DCSC cover the application of (newly developed) methods and toolsfor modeling, measurement and control to practical problems in various fields of physics. Oneof the target application domains is formed by physical imaging systems. It is shown how aquantitative model-based approach, accompanied by statistical experimental design, allowsprecise measurement of the atomic structure of materials from electron microscopy images.Furthermore, optimal statistical tests are developed for the detection of neural activity by meansof functional magnetic resonance imaging.We also apply modern control strategies to adaptiveoptics systems, with emphasis on ground-based telescopes.

DISC projects

Control for adaptive optics

prof. M. VerhaegenProjectleader:K.J.G. Hinnen, N. DoelmanParticipants:TNO Science and IndustrySponsored by:

DescriptionAdaptive optics (AO) is a technique to actively sense, estimate and correct the wavefrontdistortions that are introduced in a light beam as it propagates through a turbulent medium.One important application is to counteract the effects of atmospheric turbulence inground-based astronomical imaging, which results in a considerable improvement of theimage resolution. Nowadays, most of the leading ground-based telescopes are equippedor being retrofitted with some kind of AO system. In this project we focus on the controlaspects of adaptive optics. The goal is to develop innovative control strategies for AO ingeneral, with a main emphasis on systems dedicated to ground-based imaging.



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The control strategy used in the current generation of AO systems is usually not able to takefull advantage of the spatio-temporal correlation in the wavefront. In standard AO controldesign, the temporal evolution of the wavefront is often entirely neglected. Based on physicalinsights, the standard control law consists of a cascade of a static matrix multiplication anda series of parallel SISO feedback loops. Since atmospheric turbulence is clearly a dynamicprocess, it is to be expected that the performance of current AO systems may benefit froma more rigorous control approach. By exploiting the spatio-temporal correlation it is possibleto anticipate future wavefront distortions and reduce the temporal error caused by theunavoidable delay between measurement and correction. Furthermore it should be possibleto reduce the sensitivity to measurement noise as photons collected at different time instantsand neighboring wavefront sensor channels may all contribute to improve the wavefrontestimate. This might relax the requirements on the magnitude of the guide star.

The goal of this project is to develop advanced control strategies that are able exploit thespatio-temporal correlation in the wavefront. Incorporating the spatio-temporal dynamics inthe control design requires an accurate model of the wavefront distortion. For this reason,a significant part of this project will be devoted to the modeling the wavefront distortionsintroduced by the turbulence atmosphere. In particular, we will focus on the developmentof techniques to identify an atmospheric disturbance model from open-loop wavefront slopemeasurements from a Shack-Hartmann sensor. Data-driven modeling has the advantagethat it yields a good match with the prevalent turbulence conditions and it results in adisturbance model independent from restricting assumptions like the assumption thatturbulence has a Kolmogorov power spectrum or that its temporal evolution can be describedby the frozen flow hypothesis. The main challenge, both in identifying an atmosphericdisturbance model and in the controller design, is dimension of an AO system. Current AOsystems typically incorporate a few hundred sensors and actuators, which calls for efficientalgorithms. This issue will become increasingly important since the number of sensors andactuators of future AO systems is only expected to grow.

Control of Piezo Deformable Mirror in Adaptive Optical Systems

prof. M. VerhaegenProjectleader:P.R. Fraanje, G. Schitter, G. VdovinParticipants:H. SongPhD students:DCMMSponsored by:

DescriptionThe field of adaptive optics (AO) has received rapidly increasing attention in recent years.The goal of this project is to implement a low-cost high-speed AO system by solving thechallenging problems as follows:

1. To model the nonlinearity (hysteresis and creep) of the piezo actuators in the deformablemirror (DM) and the coupling effect (cross-talk) between actuators, and design a controllerbased on the accurate DM model such that the accuracy of the DM can be improved.

2. To investigate how to maximize the light intensity at the output of the optical system byoptimizing the shape of the DM. During the optimization, accurate DM model will be involved.

3.To implement a low-cost high-speed AO system which makes use of a photodiode insteadof a wavefront sensor for feedback control of the shape of the piezo DM.


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Development of advanced statistical tests to detect brain activity from fMRIdata

A.J. den DekkerProjectleader:J. SijbersParticipants:D.H.J. PootPhD students:IWTSponsored by:

DescriptionThe focus of this project is on signal processing in functional magnetic resonance imaging(fMRI). Functional brain imaging offers a way to image the specific brain areas that are activeduring a specific action. Brain activation is present in the MRI images due to the BOLD(Blood Oxygen Level Dependent) response. Since the BOLD response signal is weakcompared to the noise level, accurate modeling of the response as well as the disturbanceswill improve brain activation detection. The main goal of this project is to develop advancedstatistical tests to detect brain activity from fMRI data. Within this project the time and spacecorrelations of fMRI signal are modeled. The model will be used to derive detectors for taskdependent brain activation. We seek to improve the current standard processing of fMRIdatasets in the following ways. Currently, the time correlation is often modeled by an AR(1)process (first order autoregressive process). There are indications that this is not always anaccurate description of the disturbances.Therefore, methods are developed that automaticallyselect the best AR order from the data to optimally model the temporal noise structure.Usually, for activation detection, linear regression is performed where the stimulus paradigmis convolved with a hemodynamic response function (HRF) as regression vector. However,it is known that the HRF is not constant among brain regions and subjects. Therefore wewill investigate ways to identify the HRF from the measured data. To decide which parts ofthe brain are active, statistical test have to be performed. In order to make these tests moreaccurate the noise level of the images often is needed. This noise level can be robustlyestimated from background areas present in the images. Traditionally the maximum of thebackground mode of the histogram is used as an estimator for the noise level. In this projecta Maximum Likelihood method is being developed which can robustly determine the noisevariance from the histogram of the background mode of the image.

Distributed control for large adaptive optics systems

prof. M. Verhaegen, prof. M. Steinbuch (TU/e)Projectleader:R.F.M.M. Hamelinck (TU/e), N. Doelman (TNO-TPD)Participants:R.M.L. EllenbroekPhD students:TNO-TPD, IOP PrecisietechnologieSponsored by:

DescriptionIt has been known for a long time that atmospheric turbulence limits the optical telescopeimage resolution because it distorts the wavefront of the incoming light. Without turbulence,image resolution can be improved by using a larger primary mirror. However, depending onthe turbulence strength this trend stops at mirrors with a diameter of approximately half ameter. It is possible to overcome this limitation using an actively controlled deformable mirroror an Adaptive Optics (AO) system.

By now, AO systems are commercially available and AO is considered a proven technology.But there are still many open challenges, amongst which are scalability issues. As telescopes



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become ever larger, they require AO systems with ever more sensors and actuators. Thisyields problems not only for the mechanical design, but also for the control design. Distributedcontrol approaches have to be considered, representing a new research field with manychallenges.

The goal of this collaboration project between the TU Delft, the TU Eindhoven and TNO, isto design a new AO system consisting of a deformable mirror (DM) and a suitable controlsystem. The distributed control design part is done at the DCSC group of the TU Delft. Firststeps in controller design consist of system and turbulence modeling. Although models havebeen created, distributed control requires conversion of those to distributed models.

Two bottlenecks in distributing these models arise from the wavefront sensor and from thecoupling between actuators of the deformable mirror. Distributing a required processing stepof the sensor signals is not trivial while the same holds for the calculation of actuator signalscorresponding to a desired mirror shape.

High-speed atomic force microscopy

G. SchitterProjectleader:S. Kuiper, J.R. van Hulzen,PhD students:NWO, Delft University of TechnologySponsored by:

DescriptionAtomic force microscopes (AFM) enable insights into the nanoworld, visualizing even singlemolecules and atoms. Taking images, however, is time consuming and does not allowobservation of dynamic processes on the nanometer scale with the required temporalresolution.

In this project the research focuses on key challenges for the next generation of AFMs,which are based on a new mechanical design in combination with high-performance controltechniques. A new generation AFM is developed that will be used for real-time imaging (upto video-rates at 25 frames per second) e.g. of biological processes. This new instrumentwill enable experiments that investigate significant problems in nanotechnology andbiotechnology. It will be possible to study biological and chemical processes on the molecularlevel in real-time as they occur in nature.

This series of images of rat tail collagen illustrates how high-speed AFM allows zooming inon areas of interest rapidly [1]. Collagen's characteristic 67-nm banding pattern is clearlyresolved. This entire zoom series was taken in less than 1 second. A conventional AFMwould need about 15 min of imaging to obtain a comparable series of images.

[1] P.K. Hansma, G. Schitter, G.E. Fantner, C. Prater, Science 314, 601 (2006)

Integrated High Resolution Observing Through Turbulence

prof. M. Verhaegen,Projectleader:P.R. FraanjeParticipants:F. PinchettiPhD students:STW, Delft University of TechnologySponsored by:

DescriptionAtmospheric turbulence is the main obstacle achieving diffraction-limited resolution in imaginginstruments such as ground-based astronomical telescopes. Adaptive Optics systems aimat reducing the wavefront distortions in real-time, while Post-facto reconstruction techniques


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such as speckle imaging and phase diverse imaging aim at removing the influence ofwavefront aberrations on the acquired images.

While these techniques have been combined in the past to achieve superior angularresolution, the two approaches have not been studied as a system such as to optimize theperformance of the overall system as compared to separately optimizing the real-time andthe post-facto methods.

Main objective of this research project is to determine which techniques are optimal for anhybrid approach and which is the optimal system structure.

Integrated modeling and model-based auto-tuning of electron microscopesystems

prof. P.M.J. Van den HofProjectleader:A. Tejada Ruiz, A.J. den DekkerParticipants:Senter, Embedded Systems Institute (ESI)Sponsored by:

DescriptionThis research project is part of the Condor project. The Condor project is a joint endeavorof a consortium of industrial and academic partners with the Embedded Systems Institute(ESI) having the Project Management responsibility. The carrying industrial partner is FEICompany, a world-leading supplier of tools for nanotechnology. Academic partners are DelftUniversity of Technology, Eindhoven University of Technology, Katholieke UniversiteitLeuven, University of Antwerp, whereas Technolution provides industrial software expertise.The Condor project aims for a transformation of the traditional electron microscope from aqualitative imaging instrument into a flexible quantitative nano-measurement tool, allowingautomated procedures for calibrated, reproducible, precise measurements. The project ispartly funded by the Dutch Government and started in February 2007.

The electron microscope is one of the few instruments that are able to image, measure andcharacterize individual structures on the nano-scale. It is a complex physical systemcomposed of various embedded subsystems, such as the electron optical column (includingelectron sources, electronics, etc.), stage, detection and imaging system, additional detectors,vacuum system and general subsystems for electrical power and control. In the Condorproject, multi-disciplinary models are to be developed that sufficiently capture the physicalphenomena (and external disturbances) governing the behavior and performance of theelectron microscope system and its constituting subsystems. This includes validation andcalibration of these models. Using the behavior knowledge captured in the above mentionedmodels, and incorporating existing or newly developed techniques in the domains ofmeasurement, parameter estimation, image analysis, image processing, experimental design,feed-forward and feedback control, the Condor project will aim for a transformation of thetraditional microscope from a qualitative imaging instrument (with image quality as the keyquality parameter) into a flexible quantitative nano-measurement tool, allowing automatedprocedures for calibrated, reproducible measurements (with accuracy and precision as keyquality parameters). Problem-oriented research cases are selected to focus the research insuch a way that particular system functionalities, such as focusing and calibration, will bedealt with and various critical design and implementation issues will show up. A challengingtarget is the development of a model-based auto-tuning method, enabling adaptive adjustmentof the settings of the microscope’s column so as to meet pre-specified requirements forvarious functionalities. Although traditional microscopes are very image-centric, additionalsensors may be introduced to realize and improve these functionalities. Functionalities that



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will be focused on are calibrated measurement of nanometer-sized particles using atransmission electron microscopy (TEM) instrument and focus and stigmation correction inboth scanning electron microscopy (SEM) and scanning transmission electron microscopy(STEM) instruments. To assess (and control) the actual system’s performance for a givenfunctionality, a set of parameters has to be derived from the image content or additionalsensors in the system.

Mapping neural activity from EEG data using a Kalman approach

prof. dr. G. Castellanos-Dominguez (National University of Colombia), A.J.den Dekker

Projectleader:

E. Giraldo (Technological University of Pereira, Colombia)PhD students:

DescriptionFunctional neuroimaging aims to non-invasively characterize the dynamics of the distributedneural networks that mediate brain function in healthy and pathological states. Well-knownand widely used functional neuroimaging techniques are functional magnetic resonanceimaging (fMRI) and electroencephalography (EEG) source reconstruction. EEG sourcereconstruction is a technique that reconstructs the sources of electrical currents (i.e. thecurrent distribution) within the brain that give rise to recordable potential fields at the scalp.fMRI records hemodynamic activity (changes in blood flow), which is an indirect marker ofthe brain’s electrical activity. Both techniques map neuronal activity and are complementaryin the sense that fMRI is known to provide a high spatial resolution but a relatively lowtemporal resolution, whereas EEG source reconstruction, which is also known aselectroencephalographic source localization (ESL), allows a high temporal resolution, but arelatively low spatial resolution.

This project focuses on EEG source reconstruction, which is known to be an ill-posed problem(as there are an infinite number of different current sources that give rise to identical scalprecordings) that cannot be solved without some kind of regularization. Until recently, mostattempts to solve the inverse problem were based on scalp recordings at one single timepint. However, neural activity has inherent strong spatial and temporal dynamics that maybe taken into account when solving the inverse problem. In this project this goal is pursuedby developing EEG source reconstruction methods that solve the inverse problem in aKalman filter framework using linear and nonlinear physiology based dynamic models withtime varying parameters

Optimal experimental design for quantitative electron microscopy

A.J. den DekkerProjectleader:D. Van Dyck , P. Goos , S. Van Aert ,Participants:FWOSponsored by:

DescriptionThe aim of this research project is to apply state-of-the-art methods from the field of optimaldesign of experiments in the field of electron microscopy. These methods will allow electronmicroscopists to evaluate, to compare, and to optimize experiments in terms of the attainableprecision with which structure parameters, the atom positions in particular, can be measured.Moreover, statistical experimental design provides the possibility to decide if new instrumentaldevelopments result in significantly higher attainable precisions. The highest attainableprecision determines the theoretical limit to quantitative electron microscopy.


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Automotive and intelligent transportation systems

The traffic and transportation research of DCSC focusses on the control of large-scaletransportation system with a main emphasis on freeway and road traffic networks. In addition,we also consider control of railway networks. The primary control strategy is model predictivecontrol. Furthermore, we also consider distributed control of large-scale traffic networks usinga distributed and/or hierarchical multi-agent control approach.

DISC projects

ABS for Regenerative Braking in Electric Vehicles

M. CornoProjectleader:SKFSponsored by:

DescriptionThe economical progress is “jammed” by the continuous increasing traffic and pollution.Currently electric vehicles are considered a viable solution to the urban mobility problem.The research will focus on developing a truly mechatronic approach to the problem of electricvehicle design. By co-designing the hardware and the control algorithms of the vehicle, itwill be possible to achieve better performance, safety and sustainability. One of the keyfeatures of electric vehicles is the possibility to harvest energy. This proposal is aimed atstudying this aspect, particularly focusing on the interactions of energy harvesting with vehiclestability during braking. A considerable amount of effort has been put out in devisingregenerative braking strategies, but so far the problem has been studied only from the energypoint of view; much there is still to be said regarding the effect of regenerative braking onthe vehicle stability. The current strategy in hybrid vehicles is to disable energy harvestingwhen the ABS system is activated. This strategy is not optimal from the energy or from thevehicle dynamics point of view. Electric vehicles have two complementary braking systems:hydraulic braking system and the electric motor(s). On one side the hydraulic braking systemcan deliver large braking torques that may be difficult to control in a precise way; on theother side electric motors can generally provide less braking torque but in a more easilycontrolled fashion. By designing novel ABS strategies that effectively merge the action ofthe two actuators in a truly multi-input approach, it will be possible to provide safer and moreefficient vehicles.

Data-driven Methodologies for Battery Managment and Control

M. CornoProjectleader:

DescriptionDuring the last 10-15 years the secondary battery industry has experienced an explosivegrowth in terms of volume, value, available products and technologies. The early phase ofthis growth has been mainly pushed by the need of more portable electronics (cell phones,cameras, laptops, power tools, etc.). In the past several years rising oil price and increasingpollution determined a new driving factor: transportation. The battery industry responded tothe energy needs of hybrid and electric vehicles by developing new technologies and bystacking hundreds of cell in battery packs.



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As the energy stored in battery packs increases, new battery control and managementstrategies are needed to safely take advantage of this development. Traditionally the designof battery control and management strategies is carried out with an indirect approach.According to this approach some apriori knowledge on the system (first principles, batterytechnology, empirical rules…) is used to derive a physical model of the battery whoseparameters are then identified and validated with data obtained by ad-hoc experiments.Thistask is not always trivial, especially when dealing with batteries.

The data-driven approach represents a viable solution to these problems. The idea at itsfoundation is that of deriving the control and fault detection algorithms directly from data.This approach allows the user to derive models and controllers by making a limited numberof choices. With the new methods we limit these questions to structural information aboutthe plant (such as a rough estimate of the system order) instead of relying on precise priors.This would enable an inexperienced user to make use of these tools or to train user's inshort time to use them.

The data-driven approach, when applied to the battery domain, has several advantages, inparticular: • The computational complexity of the controller/model is easily scalable. • Thederived models are easily ported between different technologies, as no physical hypothesisis needed. • It can be based on regular usage data and ad-hoc experiments are not needed.• A reduced set of tuning knobs provides an efficient method for the user to still exploit a-prioriknowledge on the system (if available).

Another advantage of the data-driven approach is that it can be directly extended to faulttolerant control and online estimation problems. The ability of deriving the controller directlyfrom data can be exploited to iteratively adapt the controller to a varying (possibly faulty)plant.

We believe that the battery control domain is of particular interest because of its strategicimportance and the criticalities involved in deriving and maintaining models. In particular theproposed framework fits well to the problems of 1) charging/discharging control 2) equalizationand faulty cells management. 3) Battery life estimation

Development of advanced multi-agent control strategies for multi-classtraffic networks

prof. B. De Schutter, prof. J. HellendoornProjectleader:M. van den BergPhD students:NWO, CONNEKTSponsored by:

DescriptionThis project is part of a larger project "Advanced multi-agent control and information forintegrated multiclass traffic networks" (AMICI), and aims at developing an innovative controltheory specifically suited to the coordinated control of heterogeneous traffic flow. Generalcontrol objectives are to optimize network efficiency, to minimize safety-critical trafficconditions, and to minimize societal impacts, by providing class-specific travel informationand traffic control.We combine existing control design techniques from the fields of distributedand hierarchical control, supervisory control, model-based control, hybrid systems controland multi-agent control and apply them to the traffic control setting sketched above. Thesetechniques will be used to obtain a structured control design method and adapt them to thetypical characteristics of a traffic system.


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The figure above illustrates the multi-agent control framework used in this project.The trafficnetwork is divided in several possibly overlapping regions, each of which is controlled by alocal control agent. The agents cooperate and coordinate their actions so as to contributeto the reliable and robust operation and the performance of the entire system. Furthermore,we have one or more higher "supervisory" control levels.

In this project we also focus on optimization of the interaction between the urban networkand the motorways, by dividing the networks into subregions. Besides being class-specific,integrated and coordinated, another characteristic is that the developed traffic control systemswill be anticipatory (i.e., adaptive and predictive).

Global Chassis Control using Load Sensing

prof. M. VerhaegenProjectleader:M. GerardPhD students:Delft University of Technology, SKF, TNOSponsored by:

DescriptionActive braking, steer-by-wire, hybrid powertrain ... The number of active systems in cars isincreasing rapidly. From a global perspective, the vehicle is over-actuated (more actuatorsthan degrees of freedom) and each actuator is constrained (because of tyre saturation).Thegoal of this project is to define a modular architecture to control all those actuators in acoherent manner. An efficient online optimization technique is developed to handleover-actuated systems. Moreover, each group of actuators is locally controlled usinginformation coming from the newly available Load Sensing Hub Bearing Units.

A special focus is set on the further development of Anti-Lock Braking Systems. ABS is themost important active safety system for road vehicles, which maintains lateral stability duringheavy braking and shortens the brake distance. Thanks to force measurement, ABS can bemade simpler, more robust to changes in road conditions and better performing.

Hierarchical model predictive control for transportation systems

prof. B. De SchutterProjectleader:A. NuñezParticipants:HD-MPCSponsored by:

DescriptionHierarchical model predictive controllers are useful to control systems characterized bysignificantly different dynamics and where the action of local controllers is coordinated byan algorithm operating at a higher level.The control structure consists of algorithms dealingwith different components of the system, working at different temporal and spatial scales.At a higher level a simpler and more abstract model is considered to predict the long-termbehavior of the system and to compute the optimal operating conditions. At the lower level,a more accurate model is then used to compute the current control actions by looking at ashorter time horizon.

In this project, we aim to extend or adapt the existing algorithms of hierarchical modelpredictive control for integrated systems (multi-modal) such as dynamic vehicle routing ofpassengers together with a public transport corridor and its interactions with traffic controlin urban areas. The algorithms should be efficient and able to solve the control problem inreal-time considering economic factors, performance indexes, robustness, safety, coordination



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issues, etc. Approaches from different disciplines like computational intelligence foroptimization, models from the operation research, etc., will be merged in different levels ofthe hierarchy.

Integrated control of road networks with model predictive control

prof. J. Hellendoorn, prof. B. De Schutter,Projectleader:A. HegyiParticipants:BSIK-TRANSUMOSponsored by:

DescriptionThis project is part of the BSIK-TRANSUMO ATMA (Advanced Traffic Management) projectand aims at further developing and applying advanced model-based predictive traffic controltechniques with practical implementation and assessment in a real-life case study or fieldtest as the ultimate goal.

The theoretical basis of the contribution is the work of Papageorgiou on optimal traffic controland the work of Hegyi, De Schutter and Hellendoorn on model predictive traffic control. Morespecifically, in the PhD work of Hegyi a generic on-line, real-time traffic control approachhas been developed that uses a traffic flow model in combination with numerical optimizationto determine optimal traffic control signal settings, which are then applied to the traffic networkusing a receding or rolling horizon approach. The approach proposed by Hegyi allowsintegrated and coordinated network-wide control of various traffic control measures (suchas ramp metering, traffic signals, variable speed limits, dynamic route guidance, etc.).Moreover, the approach allows to include various hard constraints (maximal queue lengths,maximal and minimal metering rates, maximum cycle times, ...), and allows a balancedtrade-off between the urban and freeway parts of a network.

The main aim of the proposed research is to further extended this approach so as to makeit ready for implementation in practice, and then to really implement and assess thismodel-based traffic control approach in one of the three test regions of ATMA. In this contextsome theoretical issues will also have to be addressed, such as stability, robustness, efficientimplementation, trade-off issues, adaptive re-estimation and re-identification, and scalability.

Intelligent control methods for flood and water management

prof. B. De SchutterProjectleader:R.R. NegenbornParticipants:BSIK-NGI, DRC-NGISponsored by:

DescriptionIn the near future the importance of an efficient and reliable flood and water managementsystem will keep on increasing, among others due to the effects of global warming (highersea levels, more heavy rain during the spring season, but possibly also drier summers).Especially in The Netherlands the water management authority is distributed among severallocal bodies. Local control actions then include activation of pumps or locks, filling or drainingof water reservoirs, or opening emergency water storage areas. By cooperating and bycoordinating the local water management actions, and by also taking into account predictionsor forecasts of future rain fall, future droughts, and the future arrival of increased water flowvia rivers, etc. (using various weather and hydrological sensors and prediction models) amore efficient flood and water management can be obtained with less risks and less costs.


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The aim of this project is to develop intelligent model-based predictive control approachesfor flood and water management. We will both consider a more centralized approach and amore decentralized approach (which would be better suited for countries like The Netherlandswhere the water management authority is also distributed). In this project we will developand assess new control methods that will guarantee the basic requirements and "servicelevels" to perform adequate flood and water management. As some of these requirementsmay sometimes be conflicting, this will result in a multi-constraint and multi-objectivecoordination and control task.

In order to attain the goals of the project we will use a multi-disciplinary approach usingmethods from systems engineering, computer science, optimization, operations research,and control engineering. The coordination and control strategies for flood and watermanagement developed in this project should result in a much more robust, reliable, efficient,and less costly operation of the water management system.

Intelligent Lane Selection Assistance System (ILSAS)

M. CornoProjectleader:M. AlirezaeiPhD students:

DescriptionNowadays Improving Safety is an indispensable part of research issues in the automotiveindustry. It is established, Lane Keeping Assistance System (LKAS) and Adaptive CruiseControl (ACC) can save thousands of lives every year. However, LKAS has somedisadvantages as,

• Instability of system at high velocity and low lookahead distance• Driver inability at controlling the vehicle

Therefore, in this project an Intelligent Lane Selection Assistance System (ILSAS) will bedeveloped by integration LKAS, ACC and driver decision. The ILSAS as a new method inAdvance Driver Assistance Systems (ADASs) involves three main features:

• Appling differential braking along with steering system for improving the stability ofthe vehicle

• Incorporating the driver decision and satisfying driving delight• Integrating ACC and LKAS for Collision Avoidance

Model-Based Traffic Control for the Reduction of Emissions and FuelConsumption

prof. B. De Schutter, prof. J. HellendoornProjectleader:S.K. ZegeyePhD students:TU Delft/ShellSponsored by:

DescriptionDespite the improvements in transportation systems, the increase in the cost of natural fuelenergy resources, and the imposition of more stringent environmental policies for emissionlevels, the demand for mobility and transportation is continuously increasing. Consequentlyroads are frequently congested, creating economical, social, and ecological challenges.

These problems can be addressed either by large-scale substitution of natural oil byalternative fuels, enhancing vehicle technology or/and reducing waste of fuels. The firstoption will be difficult to fully implement on the short to medium term. Therefore, reducing



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fuel consumption by reducing waste of fuel and enhancing vehicle technology are sensiblestrategies. Reduction of fuel consumption and emissions can be achieved by using differenttraffic flow control measures (such as traffic signals, on-ramp metering, variable speed limits,opening or closing of shoulder lanes, route guidance etc.).

Our goal is to use these traffic control measures to reduce fuel consumption (e.g., due toidling and frequent acceleration and deceleration) and exhaust emissions.These objectiveswill be addressed using a model-based control approach (also called model predictive control,or MPC for short). In this project, two possible control approaches will be investigated:

1. Infrastructure-based: In this approach, the control strategy will be driven by sensors (suchas loop detectors, cameras, etc.) and control equipment (such as traffic signals, speed limitdisplay units, and so on) on the road side.

2. Integrated road-vehicle: In this approach, the infrastructure-based framework will beintegrated with the growing availability of in-car communication, sensing, and control systemsto obtain an integrated road-vehicle control system, resulting in better and more sustainablemobility.

Multi-agent control of large-scale hybrid systems

prof. B. De SchutterProjectleader:R.R. NegenbornParticipants:L.D. Baskar, A.N. TarauPhD students:STW & NWO (via the VIDI Innovational Research Incentives Scheme)Sponsored by:

DescriptionHuge traffic congestion after recent incidents (such as the bomb alerts in the tunnels inAmsterdam, or at the IKEA stores), or the problems in the US, The Netherlands, and Italydue to power outages have shown the crucial role of a reliable operation of traffic andtransportation systems, electricity distribution networks, and other large-scale complexsystems that are one of the corner-stones of our modern society such as water distribution,logistic operations, and telecommunication networks. A reliable and efficient operation ofthese systems is not only of paramount importance when the systems are pressed to thelimits of their performance, but also under regular operating conditions. The systemsmentioned above can be modeled as hybrid systems, i.e., systems with both continuousand discrete dynamics. A smooth, efficient and safe operation of these systems is ofparamount importance for the economic growth, the environment, and the quality of life.

Up to now, most control methods for hybrid systems are based on a centralized controlparadigm and/or on ad-hoc techniques. However, centralized control of large-scale systemsis often not feasible in practice due to computational complexity, communication overhead,and lack of scalability. Furthermore, a structured control design method is also lacking.Therefore, we propose to develop a structured and tractable design methodology for robustcontrol of large-scale hybrid systems.

In this project we will develop both the necessary new theory and a corresponding designframework for control of large-scale hybrid systems using an approach based on:

• a multi-level control structure with local "control agents" at the lowest level, and oneor more higher "supervisory" control levels,

• combination and integration of techniques from computer science and controlengineering in order to obtain coordination at and across all control levels.


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This will result in systematic approaches that outperform existing heuristic or case-dependentdecentralized control strategies.

In addition to performing fundamental research on control of large-scale hybrid systems, wewill concentrate on three specific application fields: traffic & transportation, electricitydistribution, and logistics.

Optimal and model predictive control of railway systems

prof. B. De SchutterProjectleader:T.J.J. van den BoomParticipants:

DescriptionIn this project we extend the model predictive control framework (MPC), which is a verypopular controller design method in the process industry, to railway systems. Usually MPCuses linear (or nonlinear) discrete-time models. However, railway networks and subwaynetworks cannot adequately be described by such models.

First, we have introduced a modeling framework for railway systems with both hard and softconnection constraints. A typical example of a hard connection constraint in a railway contextis when a train should give a guaranteed connection to another train. However, in somecases (e.g., if there are delays) we could allow a train to depart although not all trains towhich it should give connections according to the schedule have arrived at the station: ifsome of these trains have a too large delay, then it is sometimes better -- from a globalperformance viewpoint -- to let the train depart anyway in order to prevent an accumulationof delays in the network. Of course, missed connections lead to a penalty due to dissatisfiedpassengers or due to compensations that have to be paid. Synchronization constraints thatmay be broken (but at a cost) are called soft connection constraints. We also consider anextra degree of freedom for the control to recover from delays by letting trains run fasterthan their nominal speed if necessary. Of course, this control action will also lead to extracosts (due to increased energy consumption or faster wear of the material).

Next, we have extended the MPC framework to railway systems while still retaining theattractive features of conventional MPC. The main aim of the control is to obtain optimaltransfer coordination and/or to recover from delays in an optimal way by breaking connectionsand/or letting some trains run faster than usual (both at a cost). In general the MPC controldesign problem for railway systems leads to a nonlinear non-convex optimization problem.We have shown that the optimal MPC strategy can be computed using extended linearcomplementarity problems or integer programming algorithms.

Other examples of systems with both hard and soft synchronization constraints for whichthis approach can be used are subway networks and logistic operations.

Passivity-Based Global Chassis Control

prof. M. VerhaegenProjectleader:J.J. Koopman, D. JeltsemaParticipants:Delft University of TechnologySponsored by:

DescriptionWith the introduction of driver-assisting control systems and X-by-wire technology, theautomotive industry is now able to redesign the interface between the driver and the vehicledynamical behaviour.The control systems help to make the car more consistent, predictable



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and therefore more safe to operate. Besides that, the car can easily be designed to have aspecific ‘driving feel’.

However, increasing the degrees of control freedom often results in a complex conglomerationof control systems within the car. It is desirable that a single integrated control system isdeveloped, possibly having a structural hierarchy. Other relevant complicating factors are:

• Uncertain road conditions• Changing loading conditions• Highly nonlinear tyre behaviour

This research aims at applying constructive, physics-based nonlinear control techniques tothe problem of Global Chassis Control. It is the objective to shape the vehicle’s dynamicalbehaviour by applying:

• Four-wheel steering• Differential braking and traction• Active suspension control

Closed-loop controller synthesis methods can help to keep the controller as simple aspossible and preferably physically interpretable.The closed loop should be robust to changesin e.g. friction and loading conditions.

In this project, Passivity-Based Control is used. The area of Passivity-Based Control (PBC)focuses on shaping the closed-loop’s energy, interconnection and damping structure. Thesystem’s passivity properties play a key role in this type of controller design. One of the keyadvantages of Passivity-Based Control is the fact that nonlinearities can be treated in anatural way. An interesting open issue is a general methodology to incorporate performancespecifications into the controller synthesis. First results will be validated using the full-carsimulation environment of Dymola®.

Reconfigurable handling and flying qualities for degrade flight systemsusing model predictive control

prof. M. VerhaegenProjectleader:T.J.J. van den BoomParticipants:D.A. JoostenPhD students:STWSponsored by:

DescriptionWe shall develop a framework for the real-time synthesis, simulation and implementationof aircraft vehicle health and reconfiguration management systems. On the base of a flexible,powerful and theoretically well founded command and control infrastructure a relevant andcost effective in depth study on the handling and flying qualities of crippled aircraft can beperformed. We shall make use and, where necessary, extend the latest theoretical resultsfrom nonlinear model based predictive control, linear parameter varying control,reconfiguration and optimal trajectory generation in order to develop an on-line self-repairingcommand and control systems for crippled aircraft. A system as such will enhance theon-board vehicle functionality up to autonomy extending in this way the operational safetyof crippled aircraft. The innovation in this project in threefold, 1) in the incorporation of thefailure phenomena into the model of the aircraft, 2) the estimation of the achievable level ofperformance and 3) the control system reconfiguration to allow flight with degraded handlingqualities. We aim at demonstrating the MPC concept on the flight 1882 El-Al accident, forwhich a high fidelity mathematical Boeing-747 model, a complete damage model and fullBlack-Box flight data recordings are at our disposition.


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Self-organizing moving agents for distributed sensing and control

prof. R. Babuška, prof. B. De SchutterProjectleader:J. van AstPhD students:BSIK-ICISSponsored by:

DescriptionThis project is part of the ESA cluster within the ICIS framework and aims at further developingthe theory of self-organization and swarm-intelligence with practical implementation in acase study on controlling traffic networks.

Self-organization is a set of dynamical mechanisms whereby global structural patterns appearfrom interaction on the local level. When this interaction consists of decision makingindividuals, the theory belongs to computational swarm-intelligence.The individual elementsin a swarm-intelligence system have typically limited memory and computational capacitiesand base their decisions only on purely local information. As a whole, the system of interactingindividuals generate functional or spatial-temporal patterns that are invisible for the individuals.Swarm-intelligence is inspired by biological systems where self-organization describes theglobal behaviour, such as foraging ants, nest building termites and flocking birds. Aswarm-intelligence system is a distributed system, which has several advantages overcentralized systems, such as robustness, flexibility and scalability.

In this project we want to investigate the theory of self-organization and swarm-intelligencefor distributed sensing and control. We will try to determine under which conditions usefulstructural patterns emerge from local interactions. One of our case studies is theimplementation on traffic networks. Rather than controlling the traffic flow primarily from theroad-side, the principles of self-organization and swarm-intelligence could result in a moreeffective use of existing traffic networks by controlling individual vehicles in such a way thatdesirable global patterns are formed.

Traffic control for large-scale urban traffic networks via MPC

prof. B. De Schutter, prof. J. HellendoornProjectleader:S. LinPhD students:Delft University of TechnologySponsored by:

DescriptionAs an advanced control methodology, Model Predictive Control (MPC) offers a lot ofadvantages for controlling urban traffic networks. MPC predicts the future traffic states basedon the prediction model, so as to make long-term control decisions. MPC is robust to theuncertainty of the process, which can be caused by the unpredictable disturbances, the(slow) variation over time of the parameters, and model mismatches in the prediction model.MPC can easily coordinate multiple intersections and also multiple control measures. Anotheradvantage of MPC is that one can easily select and replace the prediction model based onthe control requirements. However, one problem that needs to be overcome whenimplementing the MPC algorithm in a real-life traffic environment is the on-line computationalcomplexity.

Therefore, our research focuses on designing MPC controllers that are effective and alsoefficient for application in large-scale urban traffic networks. In order to build more efficientMPC controllers for urban traffic networks, the following approaches are considered: First,



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reducing the urban traffic model, which is taken as the prediction model, to achieve moreefficiency for the MPC controller. Second, approximating the optimization problem by onethat can be solved more efficiently. Third, dividing the network into small sub-networks, andbuilding distributed controllers. Moreover, as performance objectives for the MPC controllerswe consider the reduction of the travel times, the reduction of the traffic emissions, or acombination of both.

Publications

Book chapters/parts

Bemporad, A, Camlibel, Mk, Heemels, WPMH, Schaft, AJ van der, Schumacher, JM & DeSchutter, B (2009). Further switched systems. In Lunze,J & Lamnabhi-Lagarrigue,F(Eds.), Handbook of Hybrid Systems Control (pp. 139-192). Cambridge: CUP

De Schutter, B, Heemels, WPMH, Lunze, J & Prieur, C (2009). Survey of modeling, analysis,and control of hybrid systems. In Lunze,J & Lamnabhi-Lagarrigue,F (Eds.), Handbookof Hybrid systems control (pp. 31-56). Cambridge: CUP.

Heemels, WPMH, Lehmann, D, Lunze, J & De Schutter, B (2009). Introduction to hybrid systems.In Lunze,J & Lamnabhi-Lagarrigue,F (Eds.), Handboek of Hybrid systems control (pp.3-30). Cambridge: CUP.

Hegyi, A, Bellemans, T & De Schutter, B (2009). Freeway traffic management and control. InMeyers,R.A (Ed.), Encyclopedia of complexity and systems science (pp. 3943-3964).New york: Springerlink.

Scherer, CW (2009). Robust controller synthesis is convex for systems without control channeluncertainties. In Van den Hof,P.M.J, Scherer,C.W. & Heuberger,P.S.C. (Eds.),Model-based control (pp. 13-30). SN: Springer.

Van den Hof, PMJ, Doren, JFM van & Douma, SG (2009). Identification of parameters in largescale physical model structures, for the purpose of model-based operations. In Van denHof,P.M.J., Scherer,C.W & Heuberger,P.S.C. (Eds.), Model-based control (pp. 125-143).SN: Springer.

Van den Hof, PMJ, Toth, R & Heuberger, PSC (2009). Model structures for identification oflinear parameter-varying (LPV) models. In Hangos,K.M. & Nádai,L. (Eds.), Proceedingsof the workshop on systems & control theory (pp. 15-34). Budapest: Dr. Zsolt Sukovsky.

International journal papers

Anderson, BDO, Lanzon, A, Dehghani, A & Bombois, XJA (2009). Quantitative effects of weightadjustments in Hoo control ++. Optimal control applications & methods, 30, 267-286.

Ast, JM van, Babuska, R & De Schutter, B (2009). Novel ant colony optimization approach tooptimal control. International journal of intelligent computing and cybernetics, 2(3),414-434.

Bos, R, Bombois, XJA & Van den Hof, PMJ (2009). Accelerating simulations of computationallyintensive first principle models using accurate quasi-linear parameter varying models.Journal of process control, 19(10), 1601-1609.

Castellini, F, Simonetto, A, Martini, R & Lavagna, M (2009). A mars communication constellationfor human exploration and network science. Advances in space research, 45, 183-199.

De Schutter, B & Shladover, SE (2009). Introduction to the special section on IV'08. Ieeetransactions on intelligent transportation systems, 10(4), 557-559.

Dekker, AJ den, Poot, DHJ, Bos, R & Sijbers, JJM (2009). Likelihood based hyphothesis testsfor brain activation detection from MRI data disturbed by colored noise: a simulationstudy. Ieee transactions on medical imaging, 28(2), 287-296.


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Dekker, AJ den, Poot, DHJ, Bos, R & Sijbers, JJM (2009). Likelihood-based hypothesis testsfor brain activation detection from MRI data disturbed by colored noise: A simulationstudy. Ieee transactions on medical imaging, 28(2), 287-296.

Doan, MD, Keviczky, T, Necoara, I, Diehl, M & De Schutter, B (2009). A distributed version ofHan's method for DMPC using local communications only. Journal of control engineeringand applied informatics, 11(3), 6-15.

Dong, J & Verhaegen, M (2009). Cautious H2 optimal control using uncertain Markov parametersidentified in closed loop. Systems & control letters, 58, 378-388.

Essen, GM van, Zandvliet, M.J., Van den Hof, PMJ, Bosgra, OH & Jansen, JD (2009). Robustwaterflooding optimization of multiple geological scenarios. Spe journal, 61(3), 202-210.

Gerard, M, De Schutter, B & Verhaegen, M (2009). A hybrid steepest descent method forconstrained convex optimization. Automatica, 45(2), 525-531.

Gevers, M, Bazanella, A.S, Bombois, XJA & Miskovic, L (2009). Identification and the informationmatrix: How to get just sufficiently rich. Ieee transactions on automatic control, 54(12),2828-2840.

Gietelink, OJ, Ploeg, J, De Schutter, B & Verhaegen, M (2009). Development of a driverinformation and warning system with vehicle hardware-in-the-loop simulations.Mechatronics, 19, 1091-1104.

Hellendoorn, H, Zegeye, SK & De Schutter, B (2009). Milieuvriendelijk verkeersmanagement.Verkeerskunde, 1-8.

Helm, AWC van der, Aa, LTJ van der, Schagen, KM van & Rietveld, LC (2009). Modeling offull-scale drinking water treatment plants with embedded plant control. Water scienceand technology: water supply, 9(3), 253-261.

Jeltsema, D & Scherpen, JMA (2009). Multidomain modeling of nonlinear networks and systems.Ieee control systems, 29(4), 28-59.

Köroglu, H & Scherer, CW (2009). Generalized asymptotic regulation with guaranteed H2performance: An LMI solution. Automatica, 45, 823-829.

Kose, E. & Scherer, CW (2009). Robust L2-gain feedforward control of uncerttain systemsusing dynamic IQCs. International journal of robust and nonlinear control, 19(11),1224-1247.

Lendek, Zs, Babuska, R & De Schutter, B (2009). Stability of cascaded fuzzy systems andobservers. Ieee transactions on fuzzy systems, 17(3), 641-653.

Lombaerts, TJJ, Huisman, HO, Chu, QP, Mulder, JA & Joosten, DA (2009). NonlinearReconfiguring Flight Control Based on Online Physical Model Identification. Journal ofguidance control and dynamics, 32(3), 727-748.

Lukszo, Z, Weijnen, MPC, Negenborn, R & De Schutter, B (2009). Tackling challenges ininfrastructure operation and control: cross-sectoral learning for process and infrastructureengineers. International journal of critical infrastructures, 5(4), 308-322.

Massioni, P & Verhaegen, M (2009). Distributed control for identical dynamically coupledsystems: A decomposition approach. Ieee transactions on automatic control, 54(1),124-135.

Masubuchi, I & Scherer, CW (2009). A recursive algorithm of exactness verification of relaxationsfor robust SDPs. Systems & control letters, 58(8), 592-601.

Mesbah, A, Huesman, AEM, Van den Hof, PMJ & Kramer, HJM (2009). A control oriented studyon the numerical solution of the population balance equation for crystallization processes.Chemical engineering science, 64(20), 4262-4277.

Necoara, I, De Schutter, B, Boom, TJJ van den & Hellendoorn, H (2009). Robust control ofconstrained max-plus-linear systems. International journal of robust and nonlinear control,19(2), 218-242.



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Negenborn, RR, Leirens, S, De Schutter, B & Hellendoorn, J (2009). Supervisory nonlinearMPC for emergency voltage control using pattern search. Control engineering practice,17(7), 841-848.

Negenborn, RR, Overloop, PJ van, Keviczky, T & De Schutter, B (2009). Distributed modelpredictive control of irrigation canals. Networks and heterogeneous media, 4(2), 359-380

Peni, T., Kulcsar, BA & Bokor, J (2009). Induced L2 norm improvement by interpolatingcontrollers for discrete-time LPC systems. European journal of control, 5, 545-559.

Popov, AP, Hegyi, A, Babuska, R & Werner, H (2008). Distributed controller design approachto dynamic speed limit control against shockwaves on freeways.Transportation researchrecord, 2008(11), 93-99.

Preitl, Z, Kulcsar, BA & Bokor, J (2009). Nonlinear modeling and piecewise linear parametervarying models for a hybrid electric vehicle. Universitatea politehnica din Timisoara.Buletinul stiintific. Seria automatica si calculatoare, 54, 73-78.

Rice, JK & Verhaegen, M (2009). Distributed control: A sequentially semi-separable approachfor spatially heterogeneous linear systems. Ieee transactions on automatic control, 54(6),1270-1283.

Rietveld, LC, Helm, AWC van der, Schagen, KM van & Kappelhof, J (2009). Geavanceerdesturing van drinkwaterzuiveringen met een integraal model. H2O: tijdschrift voorwatervoorziening en waterbeheer, 12, 37-40.

Schagen, KM van (2009). Wiskundig procesmodel verbetert drinkwaterzuivering. NPTProcestechnologie, 4, 24-25.

Schagen, KM van, Rietveld, LC, Veersma, A & Babuska, R (2009). Model-based pH monitorfor sensor assessment. Water science and technology, 60(3), 709-715.

Song, H, Vdovin, G, Fraanje, PR, Schitter, G & Verhaegen, M (2009). Extracting hysteresisfrom nonlinear measurement of wavefront-sensorless adaptive optics system. Opticsletters, 34(1), 61-63.

Song, H, Vdovin, G, Fraanje, R, Schitter, G & Verhaegen, M (2009). Extracting hysteresis fromnonlinear measurement of wavegrond-sensor-less adaptive optics system. Optics letters,34(1), 61-63.

Steenhoven, TJ van, Schaasberg, W, Vries, WHK de, Valstar, E R & Nelissen, RGHH (2009).Augmentation with silicone stabilizes proximal femur fractures: An in vitro biomechanicalstudy. Clinical biomechanics, 24(3), 286-290.

Tarau, A, De Schutter, B & Hellendoorn, J (2009). Model-based control for throughputoptimization of automated flats sorting machines. Control engineering practice, 17(6),733-739.

Tarau, AN, De Schutter, B & Hellendoorn, J (2009). Centralized, decentralized, and distributedmodel predictive control for route choice in automated baggage handling systems. Journalof control engineering and applied informatics, 11(3), 24-31.

Toth, R, Heuberger, PSC & Van den Hof, PMJ (2009). Asymptotically optimal orthonormal basisfunctions for LPV system identification. Automatica, 45, 1359-1370.

Valtchev, S, Borges, B, Brandisky, K & Klaassens, JB (2009). Resonant contactless energytransfer with improved efficiency. Ieee transactions on power electronics, 24(3), 685-699.

Vries, WHK de, Veeger, HEJ, Baten, CTM & Helm, FCT van der (2009). Magnetic distortion inmotion labs, implications for validating inertial magnetic sensors. Gait & posture, 29,553-541.

Wingerden, JW van & Verhaegen, M (2009). Subspace identification of bilinear and LPV systemsfor open- and closed-loop data. Automatica, 45, 372-381.

Worm, GIM, Mesman, GAM, Schagen, KM van, Borger, KJ & Rietveld, LC (2009). Hydraulicmodelling of drinking water treatment plant operations. Drinking water engineering andscience discussions, 2(1), 15-20.


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Zandvliet, M.J., Handels, M, Essen, GM van, Brouwer, DR & Jansen, JD (2008). Adjoint-basedwell-placement optimiziation under production constraints. Spe journal, 13(4), 392-399.

International congress papers

Abate, A (2009). A contractivity approach for probabilistic bisimulations of diffusion processes.In Baillieul,J & Guo,L (Eds.), Proceedings of the combined 48th IEEE conference ondecision and control and 28th Chinese control conference (pp. 2230-2235). Shanghai,China: IEEE.

Arnold, M, Negenborn, RR, Andersson, G & De Schutter, B (2009). Model-based predictivecontrol applied to multi-carrier energy systems. In Malik,P (Ed.), Proceedings of the IEEEpower & energy society general meeting (pp. 1-8). Calgary, Canada: IEEE.

Arnold, M, Negenborn, RR, Andersson, G & De Schutter, B (2009). Multi-area predictive controlfor combined electricity and natural gas systems. In Keviczky,L. (Ed.), Proceedings ofthe European Control Conference 2009 (pp. 1408-1413). Budapest, Hungary: ECC.

Ast, JM van, Babuska, R & De Schutter, B (2009). Fuzzy ant colony optimization for optimalcontrol. In Akira Inoue (Ed.), Proceedings of the 2009 IEEE international conference onnetworking, sensing and control (pp. 1003-1008). Okayama, Japan: IEEE.

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Tejada Ruiz, A, Hoeven, SW van der, Dekker, AJ den & Van den Hof, PMJ (2009). Towardsautomatic control of scanning transmission electronmicroscopes. In Fradkov,A (Ed.),Proceedings of the 18th international conference on control applications part of 2009IEEE multiconference on systems and control (pp. 788-793). St.Petersburg, Russia:IEEE.

Tekin, OA, Babuska, R, Tomiyama, T & De Schutter, B (2009). Toward a flexible control designframework to automatically generate control code for mechatronic systems. In Hoo,K.A.(Ed.), Proceedings of the 2009 American Control Conference (pp. 4933-4938). Saint-Louis,USA: ACC.

Toth, R, Heuberger, PSC & Van den Hof, PMJ (2009). An LPV identification framework basedon orthonormal basis functions. In Basseville,M. (Ed.), Proceedings of the 15th IFACsymposium on system identification (pp. 1328-1333). Saint-Malo, France: SYSID.

Toth, R, Heuberger, PSC, Van den Hof, PMJ & Willems, J.C. (2009). Extension of the behavioralapproach to linear parameter-varying systems. In Sepulchre,R (Ed.), Proceedings of the28th Benelux meeting on systems and control (pp. 131-131). Spa, Belgium: Beneluxmeeting.

Toth, R, Lovera, M, Heuberger, PSC & Van den Hof, PMJ (2009). Discretization of linearfractional representations of LPV systems. In Baillieul,J & Guo,L (Eds.), Proceedings ofthe combined 48th IEEE conference on decision and control and 28th Chinese controlconference (pp. 7424-7429). Shanghai, China: IEEE.


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Toth, R, Lyzell, C, Enqvist, M, Heuberger, PSC & Van den Hof, PMJ (2009). Order and structuraldependence selection of LPV-ARX models using a Nonnegative Garrote approach. InBaillieul,J & Guo,L (Eds.), Proceedings of the combined 48th IEEE conference on decisionand control and 28th Chinese control conference (pp. 7406-7411). Shanghai, China:IEEE.

Toth, R, Willems, J.C., Heuberger, PSC & Van den Hof, PMJ (2009). A behavioral approachto LPV systems. In Keviczky,L. (Ed.), Proceedings of the European Control Conference2009 (pp. 2015-2020). Budapest, Hungary: ECC.

Trottemant, EJ , Weiss, M & Vermeulen, A (2009). Synthesis of robust feedback Missile controlstrategies by using LMI techniques. In Marcos,A (Ed.), Proceedings of the AIAA Guidance,Navigation and Control Conference (pp. 1-14). Chicago: AIAA.

Vaandrager, M, Babuska, R, Busoniu, L & Lopes, GAD (2009). Model-based imitation forlearning control. In Hamers,M (Ed.), Proceedings of the Philips conference on applicationsof control technology (pp. 83-87). Hilvarenbeek, the Netherlands: PACT.

Van den Hof, PMJ, Jansen, JD, Essen, GM van & Bosgra, OH (2009). Model-based controland optimization of large scale physical systems-challenges in reservoir engineering. InWang,F (Ed.), Proceedings of the 21st Chinese control & decision conference (pp. 1-10).Guillin, China: CCDC 2009.

Vanek, B., Kulcsar, BA, Falcone, P. & Balas, G.J (2009).Yaw control via combined brakingand steering. In Keviczky,L. (Ed.), Proceedings of the European Control Conference2009 (pp. 3652-3658). Budapest, Hungary: ECC.

Veenman, J, Köroglu, H & Scherer, CW (2009). Analysis of the controlled NASA HL20atmospheric re-entry vehicle based on dynamic IQCs. In Marcos,A (Ed.), Proceedingsof the AIAA Guidance, Navigation and Control Conference (pp. 1-16). Chicago: AIAA.

Veenman, J, Scherer, CW & Köroglu, H (2009). IQC-based LPV controller synthesis for theNASA HL20 atmospheric re-entry vehicle. In Marcos,A (Ed.), Proceedings of the AIAAGuidance, Navigation and Control Conference (pp. 1-18). Chicago: AIAA.

Viccione, P, Scherer, CW & Innocenti, M (2009). LPV synthesis with integral quadratic constraintsfor distributed control of interconneced systems. In Palmor, Z.J. (Ed.), Proceedings ofthe 6th IFAC symposium on robust control design (pp. 13-18). Haifa, Israel: IFAC.

Vries, D, Verheijen, PJT & Dekker, AJ den (2009). Hybrid system modeling and identificationof cell biology systems:perspectives and challenges. In M Basseville (Ed.), Proceedingsof the 15th symposium on system identification SYSID 2009 (pp. 227-232). Saint-Malo,France: SYSID.

Wei, X & Verhaegen, M (2009). Condition monitoring of large scale offshore wind turbinesystems by using model based robust fault detection and estimation techniques. In Zervos,A. (Ed.), Proceedings of the European wind energy conference and exhibition (EWEC)(pp. 1-10). Marseille, France: EWEC.

Wei, X & Verhaegen, M (2009). Mixed H_/Hoo dynamic observer design for fault detection. InKeviczky,L. (Ed.), Proceedings of the European Control Conference 2009 (pp. 1913-1918).Budapest, Hungary: ECC.

Wei, X & Verhaegen, M (2009). Robust fault detection observer design for LTI systems basedon GKYP lemma. In Keviczky,L. (Ed.), Proceedings of the European Control Conference2009 (pp. 1919-1924). Budapest, Hungary: ECC.

Wei, X & Verhaegen, M (2009). Robust fault detection observer for LTI systems with additiveuncertainties. In Gertler,J. (Ed.), Proceedings of the 7th IFAC symposium on faultdetection, supervision and safety of technical processes (pp. 756-761). Barcelona, Spain:IFAC.



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Wei, X, Houtzager, I & Verhaegen, M (2009). Fault diagnosis for LTI systems based on subspaceidentification technique. In Gertler, J. (Ed.), Proceedings of the 7th IFAC symposium onfault detection, supervision and safety of technical processes (pp. 324-329). Barcelona,Spain: IFAC.

Wei, X, Liu, L & Verhaegen, M (2009). Fault detection and estimation for LTI systems and itsapplication to a lab robotic manipulator. In Wang,F.. (Ed.), Proceedings of the Chinesecontrol and decision conference (pp. 1606-1611). Guilin, China: CCDC 2009.

Wingerden, JW van & Verhaegen, M (2009). Closed loop identification of MIMO Hammersteinmodels using LS-SVM. In Basseville,M. (Ed.), Proceedings of the 15th Symposium onSystem Identification (pp. 1650-1655). Saint-Malo, France: SYSID.

Wingerden, JW van & Verhaegen, M (2009). Closed-loop subspace identification ofHammerstein-Wiener models. In Baillieul,J & Guo,L (Eds.), Proceedings of the combined48th IEEE conference on decision and control and 28th Chinese control conference (pp.3637-3642). Shanghai, China: IEEE.

Worm, GIM, Helm, AWC van der, Schagen, KM van & Rietveld, LC (2009). Integration of ahydraulic model, a process model and a control model for simulation of pellet softening.In s.n. (Ed.), 10th IWA conference on instrumentation, control and automation (pp. 1-6).Cairns: IWA.

Zegeye, SK, De Schutter, B, Hellendoorn, H & Breunesse, E (2009). Model-based traffic controlfor balanced reduction of fuel consumption, emissions, and travel time. In Chassiakos,A(Ed.), Proceedings of the 12th IFAC symposium on transportation systems (pp. 149-154).Redondo Beach, California, USA: IFAC.

Zegeye, SK, De Schutter, B, Hellendoorn, H & Breunesse, E (2009). Reduction of travel timesand traffic emissions using model predictive control. In Hoo,K.A. (Ed.), Proceedings ofthe 2009 American Control Conference (pp. 5392-5397). St. Louis, MO, USA: ACC.

Zegeye, SK, De Schutter, B, Hellendoorn, J & Breunesse, E (2009). Model-based traffic controlfor the reduction of fuel consumption, emissions and travel time. In Busch,F (Ed.),Proceedings of the international scientific conference on mobility and transport (pp. 1-11).Munich, Germany: ITS.

Zhang, W, Abate, A, Vitus, MP & Hu, J (2009). On piecewise quadratic control-lyapunov funcionsfor switched linear systems. In Baillieul,J & Guo,L (Eds.), Proceedings of the combined48th IEEE conference on decision and control and 28th Chinese control conference (pp.1088-1093). Shanghai, China: IEEE.

Ph.D. theses

Baskar, LD (2009, november 18).Traffic management and control in intelligent vehicle highwaysystems. TUD Technische Universiteit Delft (156 pag.) (Delft). Prom./coprom.: Prof.dr.ir.B De Schutter & Prof.dr.ir. J Hellendoorn.

Busoniu, IL (2009, januari 13). Reinforcement learning in continuous state and action spaces.TUD Technische Universiteit Delft (189 pag.) (Delft). Prom./coprom.: Prof.dr. R Babuska& Prof.dr.ir. B De Schutter.

Dong, J (2009, november 11). Data driven fault tolerant control: A subspace approach. TUDTechnische Universiteit Delft (179 pag.) (Delft). Prom./coprom.: Prof.dr.ir. M Verhaegen.

Lendek, Zs (2009, maart 10). Distributed fuzzy and stochastic observers for nonlinear systems.TUD Technische Universiteit Delft (176 pag.) (Delft). Prom./coprom.: Prof.dr. R Babuska& Prof.dr.ir. B De Schutter.

Schagen, KM van (2009, mei 19). Model-based control of drinking-water treatment plants.TUDTechnische Universiteit Delft (171 pag.) (Delft). Prom./coprom.: Prof.dr. R Babuska.


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M.Sc. theses

Alves, D.G.A. Ant Dispersion Routing for Traffic Optimization, 2-7-2009Bergh van den, P.M. Modeling and control of the hopper dredger excavation system (verslag

vertrouwelijk), 11-3-2009Bloemendaal, B.F. Modelling and measurement of rolling resistance on a rollercoaster,

17-12-2009Bot de, D.J.T. A temperature state estimator for a load sensing hub bearing unit, 21-9-2009Braake ter, J. Iterative Learning Control for High-Speed Atomic Force Microscopy, 18-12-2009Bruijn de, E. Force Sensing in Wheel Slip Control, 17-2-2009Ghieratmand, A. Vision based robust control of double rotational pendulum, 24-6-2009Graaf de, B.J.A. Prediction and simulation models for intelligent vehicle highway systems -

Assessment, development, and calibration, 31-3-2009Hansen, B. Least costly detection experiment for the process industry, 29-9-2009Hijink, W.J. Servo control of a Shape Memory Alloy trailing edge flap (Smart Rotor Concept),

11-12-2009Huiberts, S.M., 10-6-2009Korte de, R.B.C. Subspace-Based Identification Techniques for a Smart Wind Turbine Rotor

Blade, 12-1-2009Kroese, H. Feedback control of a piezo deformable mirror for a wavefront- sensorless AO setup,

18-12-2009Kuiper, I.T.J. Well Testing in the Framework of System Identification, 13-3-2009Leune, W.K. Model-based operational control of railway networks, 21-9-2009Mulder, S. Energy management strategy for a hybrid container crane, 16-7-2009Rezapour, A. Improved Waterflooding Performance using Model Predictive Control, 14-12-2009Sujoto, S. Improvement of the Control System for flying Gauge changes at Port Tabot Cold

Mill, 28-8-2009Thus, S.J. Soap Particle Clustering for Non-linear System Identification, 29-9-2009Tong, C. Probabilistic parameter uncertainty bounding in prediction error identification,

12-10-2009Truffino, J.M. Gait initiation for a biped robot, 23-4-2009Wang, L. Artifact Correction for EEG Alpha Wave Measurements, 12-10-2009Witte, J. Robust and LPV control for active magnetic bearings, 16-12-2009



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Delft University of TechnologyFaculty: Electrical Engineering, Mathematics and ComputerScienceDepartment: Delft Institute of Applied MathematicsChair: Optimization and Systems Theory

General Information

AddressDelft University of Technology Mekelweg 4 2628 CD Delft The Netherlands Phone (secretary):+31-(0)15-2784109 Fax (secretary) +31-(0)15-2787295 e-mail (secretary):[email protected]

Scientific staffprof.dr. G.J. Olsder (retired), prof.dr.ir. A.W. Heemink, prof.dr.ir. K.I. Aardal, prof.dr.ir. J.H.van Schuppen, dr.ing. D. Jeltsema, dr.ir. J.G. Maks, dr. J.B.M. Melissen, dr. A. Schürmann,drs. N. Tholen, dr. F. Vallentin, dr. J.W. van der Woude,

Technical and administrative staffC.P.A. Schneider, D. Engering

PhD studentsM.U. Altaf, E. Budiarto, A. Chaves Jimenez, F.J. von Heymann, I.D.T.F. Garcia, M.P. Kaleta,M.V. Krymskaya, W. Lawniczak, C. Maris, S. Muhammad, J.S. Pelc, J.H. Sumihar, H.S.A.M.Syed, C. van Velzen MScstudents R. van Diggelen, E. Gevers, R. Lichiardopol, C. Maris,C. de Wit

Temporary staff and postdocsprof. S. Alpern (London)

Cooperation withLaboratoire d’Ingènierie des sysètemes automatisés, Université d’Angers,

INRIA, France,

University of Illinois, Urbana-Champaign, USA,

Laboratoire d’Automatique de Grenoble, France,

London School of Economics

Keywordsconflict analysis, optimal control, game theory, filter theory, large scale systems, max-plusalgebra, dynamical system, differential equation, time table design, production planning,stabilization, traffic planning, road toll, mooring, hierarchy, feedback, structural analysis,discrete events, network analysis.

Brief descriptionMathematical Systems Theory (MST) is concerned with the study, analysis, and control ofinput/output phenomena. The emphasis is on the dynamic, i.e. time dependent, behavior ofsuch phenomena. One tries to design control systems such that a desired behavior is

Delft University of TechnologyFaculty: Electrical Engineering, Mathematics and Computer ScienceDepartment: Delft Institute of Applied MathematicsChair: Optimization and Systems Theory

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achieved as well as possible. MST is at the forefront of the creative interplay of puremathematics, engineering and computer science. Research in the group is on linear as wellas nonlinear systems, and is specifically focused on dynamic game theory and discreteevent dynamic systems.

DISC projects

Systems theory with algebraic properties

prof.dr.ir. A.W. HeeminkProjectleader:

DescriptionControl and systems theory with algebraic properties. Study of max-plus and Clifford algebras.Applications of the former in production planning and specifically in timetable design fortransportation systems (such as railways). The latter deals with the description (or better:avoidance of) singularities in modelling.

Optimal control and multi-person decision making


DescriptionOptimal control and multi-person decision making. In the latter topic hierarchical decisionmaking (Stackelberg equilibria) and “Searcher and Hider” problems are currently investigated.

Filtering, identification and control of large scale systems


DescriptionData assimilation methods are used to combine the results of a large scale numericalmodelwith the measurement information available in order to obtain an optimal reconstructionof the dynamic behavior of the model state. A number of new filter algorithms for large scalesystems has been developed. Applications are for instance in the areas of mooring shipsat oil platforms, air pollution prediction problems.

Publications

Books

Koren, B, Vuik, C, Hassen, YJ, Gerritsma, MI, Maerschalck, B de, Boer, A de, Zuijlen, AH van,Bijl, H, Heemink, AW, Hanea, RG, Sumihar, JH, Roest, MRT, Velzen, C van, Verlaan,M, Oosterlee, CW, Mulder, WA , Plessix, RE, Veldhuizen, S van, Collignon, TP, Gijzen,MB van, Vermolen, FJ, Andreykiv, A, Aken, EM van, Linden, JC van der, Javierre Perez,E, Keulen, A van, Roekaerts, DJEM, Sluijs, LJ, Meer, FP van der, Stelling, GS, Zijlema,M, Abbate, G , Kleijn, CR , Hoeven, S van der & Coppens, MO (2009). (Virtueel boek)Advanced computational methods in science and engineering (Lecture notes incomputational science and engineering, 71). Berlin Heidelberg: Springer-Verlag.

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Book chapters/parts

Alpern, SR, Fokkink, RJ, Lindelauf, RHA & Olsder, GJ (2009). A numerical approach to theprincess and monster. In P Bernhard, V Gaitsgory & O Pourtallier (Eds.), Advances inDynamic Games and Their Applications (Volume: 10) (pp. 149-157). Boston: Birkhauser.

Heemink, AW, Hanea, RG, Sumihar, JH, Roest, MRT, Velzen, C van & Verlaan, M (2009).Data assimilation algorithms for numerical models. In B Koren & C prof.dr.ir Vuik (Eds.),Advanced computational methods in science and engineering (Lecture notes incomputational science and engineering, 71) (pp. 107-143). Berlin Heidelberg:Springer-Verlag.

Thiery, S, Bernhard, P. & Olsder, GJ (2009). Robust control approach to digital option pricing:synthesis approach. In P Bernhard, V Gaitsgory & O Pourtallier (Eds.), Advances inDynamic Games and Their Applications (Volume: 10) (pp. 293-311). Boston: Birkhauser.


Alpern, SR & Katrantzi, I (2009). Equilibria of two-sided matching games with commonpreferences. European journal of operational research, 196, 1214-1222.

Alpern, SR, Baston, V & Gal, S (2009). Searching symmetric networks with utilitarian-postmanpaths. Networks, 53(4), 392-402.

Altaf, MU, Heemink, AW & Verlaan, M (2009). Inverse shallow-water flow modeling using modelreduction. International journal for multiscale computational engineering, 7(6), 577-594.

Bachoc, C, Nebe, G, Oliveira Filho, FM de & Vallentin, F (2009). Lower bounds for measurablechromatic numbers. Geometric and functional analysis, 19(3), 645-661.

Barbu, AL, Segers, AJ, Schaap, M, Heemink, AW & Builtjes, PJH (2009). A multi-componentdata assimilation experiment directed to sulphur dioxide and sulphate over Europe.Atmospheric environment, 43(9), 1622-1631.

Charles, WM, Berg, E van den, Lin, HX & Heemink, AW (2009). Adaptive stochastic numericalscheme in parallel random walk models for transport problems in shallow water.Mathematical and computer modelling, 50(7-8), 1177-1187.

Charles, WM, Heemink, AW & Berg, E van den (2009). Coloured noise for dispersion ofcontaminants in shallow waters. Applied mathematical modelling, 33(2), 1158-1172.

Delft, G van, El Serafy, GY & Heemink, AW (2009). The ensemble particle filter (EnPF) inrainfall-runoff models. Stochastic environmental research and risk assessment, 23(8),1203-1211.

Jeltsema, D & Schaft, AJ van der (2009). Lagrangian and hamiltonian formulation of transmissionline systems with boundary energy flow. Reports on mathematical physics, 63(1), 55-74.

Jeltsema, D & Scherpen, JMA (2009). Multidomain modeling of nonlinear networks and systems.Ieee control systems, 29(4), 28-59.

Krymskaya, MV, Hanea, RG & Verlaan, ML (2009). An iterative ensemble Kalman filter forreservoir engineering applications. Computational geosciences, 13(2), 235-244.

Lawniczak, W, Hanea, RG, Heemink, AW & McLaughlin, D (2009). Multiscale ensemble filteringfor reservoir engineering applications. Computational geosciences, 13(2), 245-254.

Muhammad, S & Woude, JW van der (2009). A counter example to a recent result on thestability of non-linear systems. Ima journal of mathematical control and information,2009(26), 319-323.

Olsder, GJ (2009). Phenomena in inverse stackelberg games, part 1: Static problems. Journalof optimization theory and applications, 143(3).

Olsder, GJ (2009). Phenomena in inverse stackelberg games, part 2: Dynamic Problems.Journal of optimization theory and applications, 143(3).

Delft University of TechnologyFaculty: Electrical Engineering, Mathematics and Computer ScienceDepartment: Delft Institute of Applied MathematicsChair: Optimization and Systems Theory

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Radkova, D & Zanten, AJ van (2009). Constacyclic codes as invariant subspaces. Linear algebraand its applications, 430(2-3), 855-864.

Velzen, C van & Segers, AJ (2009). A problem-solving environment for data assimilation in airquality modelling. Environmental modelling & software, 2009.

Woude, JW van der (2009). A system of real quaternion matrix equations with applications.Linear algebra and its applications, 2009(431), 2291-2303.

Zamani, A, Azimian, A, Heemink, AW & Solomatine, DP (2009). Non-linear wave dataassimilation with an ANN-type wind-wave model and Ensemble Kalman Filter (EnKF).Applied mathematical modelling, 1-16.

Zamani, A, Azimian, A, Heemink, AW & Solomatine, DP (2009). Wave height prediction at theCaspian Sea using a data-driven model and ensemble-based data assimilation methods.Journal of hydroinformatics, 11(2), 154-164.


Budiarto, E, Keijzer, M, Storchi, PRM, Heemink, AW & Heijmen, B (2009). Optimization ofradiation therapy planning: geometrical uncertainties problem. In Book of abstracts &Program of the 2nd Dutch conference on bio-medical engineering (pp. 102-102). s.l.:s.n..

Djordevic, S, Van den Hof, PMJ, Jeltsema, D & Veen van 't, R. (2009). Control of cavity flowbased on a macroscopic observation. In Keviczky,L. (Ed.), Proceedings of the EuropeanControl Conference 2009 (pp. 1233-1238). Budapest, Hungary: ECC.

Jansen, JD, Douma, SG, Brouwer, DR, Van den Hof, PMJ, Bosgra, OH & Heemink, AW (2009).Closed-loop reservoir management. In s.n. (Ed.), 2009 SPE Reservoir Simulation (pp.1-18). Houston, TX, USA: SPE.

Jeltsema, D (2009). Post-hamiltonian formulation of physical systems containing memristors.In F..Breitenecker I. Troch (Ed.), Proceedings MATHMOD 09 Vienna (pp. 617-628).Vienna, Austria: ARGESIM and ASIM.

Ph.D. theses

Radkova, D (2009, januari 26). Constacyclic codes as invariant subspaces. TUD TechnischeUniversiteit Delft (101 pag.) (Rotterdam: PrintPartners Ipskamp B.V.). Prom./coprom.:Prof.dr. AJ van Zanten & SM Dodunekov.

Rommelse, JR (2009, januari 19). Data assimilation in reservoir management.TUD TechnischeUniversiteit Delft (160 pag.) (Delft, The Netherlands: TUD Technische Universiteit Delft).Prom./coprom.: Prof.dr.ir. AW Heemink & Dr.ir. JD Jansen.

Sumihar, JH (2009, oktober 19).Two-sample Kalman filter and system error modelling for stormsurge forecasting. TUD Technische Universiteit Delft (157 pag.) (Delft: TU Delft).Prom./coprom.: Prof.dr.ir. AW Heemink & Ir. M Verlaan.

Other publications

Olsder, GJ (01-04-2009).Vissers, zonaanbidders en wegafsluitingen. Machazine, jaargang 13,nummer 3, pp. 32-34.

Olsder, GJ (01-06-2009).Vissers, zonaanbidders en wegafsluitingen. Machazine, jaargang 13,nummer 4, pp. 28-30.

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Delft University of TechnologyFaculty of Aerospace EngineeringControl and Simulation

General Information

AddressDelft University of Technology, Faculty of Aerospace Engineering, Control and Simulation,Kluyverweg 1, 2629 HS Delft, The Netherlands. Phone (secretary): +31–15–2782094. Fax(secretary): +31–15–2786480.

Scientific staffProf.dr.ir. J.A. Mulder, Prof.dr. ir. M. Mulder, dr.ir. M.M. van Paassen, dr. Q.P. Chu, ir. A.C.in ’t Veld, ir. T.J.J. Lombaerts

Technical and administrative staffIng. H. Lindenburg, ing. A. Damman, ing. A. Muis, F.N. Postema, M.M. Klaassen, G.F. denToom, ing. E.H.H. Thung

PhD studentsir. C. de Wagter, ir. E. de Weerdt, E. van Kampen, ir. J.L. de Prins, ir. J. Lorga, ir. J. Oliveira,ir. L. Sonneveldt, ir. E.R. van Oort, ir. M.H.J. Amelink, ir. P.M.T. Zaal, ir. S.J.B. van Dam, ir.T.J.J. Lombaerts, ir. J. Ellerbroek, ir. D.M. Pool, ir. A.R. Valente Pais, ir. C.C. de Visser, ir.W. Falkena, A.M.P. de Leege, B.J. Correia Gracio, F.M. Nieuwenhuizen, J. Comans, J.Venrooij, M.A. Rahman, P.M.A. de Jong, S. Bouarfa.

Cooperation withESA/ESTEC, Deimos Space, Dutch Space, EADS, LM, Navionex, RAF, NAL, Boeing,Minnesota University, NLR, TNO/FEL, NIVR, DLR, Garteur, Misat/MicroNed, NASA, VictoriaUniversity, Wright State University, Max Planck Institute, Heidelberg, Georgia Tech, MIT,Boeing Research and Technology Europe.

Brief descriptionWithin the research programme ‘Control and Simulation’, two fields of aerospace scienceplay an equally important role. The first is concerned with the flight dynamics of aerospacevehicles as aircraft, rotorcraft and spacecraft, their mathematical models, the analysis oftheir dynamic properties, and the design and analysis of manual and automatic guidanceand control of these vehicles through computers. It is in this field, ‘Aerospace GuidanceNavigation and Control (AGNC)’, that a variety of control-theoretic concepts are the focusof interest.The second field studies the interaction of the human operator with the aerospacevehicle, in many cases in the context of a complex operational environment. In this field ofaerospace science, ‘Aerospace Human-Machine Systems (AHMS)’, the cybernetic propertiesof human operators are studied, i.e., their perception and control behaviour in manual controltasks, but also aims at supporting human operators in a more automated environment, actingas a ‘supervisor’.While the two fields AGNC and AHMS are distinct in their subjects, theoriesand mathematics, they are often closely interlinked and mutually dependent in many problemssuch as in the design of manual flight control systems leading to good handling qualitiesand in the optimal design of flight simulator motion cueing systems.


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Aerospace Guidance, Navigation and Control (AGNC)The goal of our research within AGNC can be formulated as to enhance manoeuvringperformance, safety, and survivability of aerospace vehicles ranging from small UninhabitedAreal Vehicles (UAV) to transport aircraft, and from rotorcraft to re-entry vehicles andsatellites.The long track record in research in dynamic flight test techniques and identificationof nonlinear aerodynamic models of a variety of aircraft enabled the group to naturally moveits research towards nonlinear, robust and fault-tolerant GNC systems as its main focal point.The research is more than just a pure theoretical development, and aims at applying a widerange of available theoretical concepts to problems of practical significance. The group isthought to be in a very good position to do just that as it can combine expertise from controltheoretical subjects as linear and nonlinear control, state estimation, system identification,nonlinear optimisation and intelligent and knowledge based systems with deep domainknowledge of subjects as flight dynamics, aerodynamics, structural dynamics, flight testprocedures, flight instrumentation, carrier phase based GPS navigation and attitudedetermination, dynamic manoeuvre design, aircraft handling qualities and orbit and attitudedynamics. Also, as the group includes several professional pilots including the chair holder,our extensive operational experience is a guarantee that the proposed systems and solutionsare not just academically sound but do make practical sense too. While academic researchon GNC often remains in the realm of feasibility studies using simplified models and off-linecomputer simulations, the strength of our group is also in actual implementation of algorithmsfor real-time evaluation in the flight simulator as well as in the Cessna Citation laboratoryaircraft, to be evaluated by professional civil transport aircraft- and air force test pilots.

The field of ‘Aerospace Human-Machine Systems’ (AHMS)The interest in the area of human-machine interaction started during the second World War.Large groups of (military) personnel were required to operate complex machinery. The keyto success of these combined human-machine systems was often found in the proper designof the interface between the system and its human operator. This has led to aninterdisciplinary research field called cybernetics with contributions from engineering (mainlycontrol system engineering), psychology (including cognitive and perceptual psychology),and from physiology. Cybernetics is therefore the first core area of research within the fieldof Aerospace Human-Machine Systems.

With the advent of automated systems, research was started on the role of the humanoperator as an observer of largely automated processes, and as a supervisor issuingcommands and set-points to the automation. Increases in scale and system complexity ledto the development of various new approaches to the design of human-machine interfaces.One very powerful of these is currently known as Cognitive Systems Engineering (CSE),which uses the ‘work domain’ of the human-machine system to be (re-) designed as itsstarting point.This in contrast to earlier techniques that start with an analysis of and a focuson the proposed task that the human will have in the new system, or on the knowledge thatexperts have acquired in existing (similar) systems. By starting with an analysis of the workdomain, however, cognitive systems engineering has proven to be more suitable tohuman-machine system and interface design for future applications of large scale andcomplexity. CSE is the second core area of research within AHMS.

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Publications


Abbink, DA & Mulder, M (2009). Exploring the Dimensions of Haptic Feedback Support inManual Control. Journal of computing and information science in engineering, 9(1), 1-18.

Beerens, GC, Damveld, HJ, Mulder, M, Paassen, MM van & Vaart, JC van der (2009).Investigation into Crossover Regression in Compensatory Manual Tracking Tasks. Journalof guidance control and dynamics, 32(5), 1429-1445.

Clercq, K.M.E De, Kat, R de, Remes, B, Oudheusden, BW van & Bijl, H (2009). Aerodynamicexperiments on DelFly II: Unsteady lift enhancment. International journal of Micro AirVehicles, 1(4), 255-262.

Croon, GCHE de, Clercq, K.M.E De, Ruijsink, HM, Remes, B & Wagter, C de (2009). Design,aerodynamics, and vision based control of micro air vehicles. International journal ofMicro Air Vehicles, 1(2), 71-97.

Croon, GCHE de, Sprinkhuizen-Kuyper, IG & Postma, EO (2009). Comparison of Active VisionModels. Image and vision computing, 27(4), 374-384.

Heiligers, MM, Holten, T van & Mulder, M (2009). Predicting pilot task demand load during finalapproach. International journal of aviation psychology, 19(4), 391-416.

Hermes, P, Mulder, M, Paassen, MM van, Boering, JHL & Huisman, HO (2009).Solution-Space-Based analysis of the difficulty of aircraft merging tasks. Journal of aircraft,46(6), 1995-2015.

Kampen, EJ van, Weerdt, E De, Chu, QP & Mulder, JA (2009). Applied Interval Based IntegerAmbiguity Resolution. Navigation, 56(3), 205-219.

Lam, TM, Boschloo, HW, Mulder, M & Paassen, MM van (2009). Artificial Force Field for HapticFeedback in UAV Teleoperation. Ieee transactions on systems man and cybernetics parta-systems and humans, 39(6), 1316-1330.

Lam, TM, Mulder, M, Paassen, MM van, Mulder, JA & Helm, FCT van der (2009). Force-StiffnessFeedback in Uninhabited Aerial Vehicle. Journal of guidance control and dynamics, 32(3),821-835.

Leege, AMP de, Veld, AC in t', Mulder, M & Paassen, MM van (2009).Three-Degree DeceleratingApproaches in High-Density Arrival Streams. Journal of aircraft, 46(5), 1681-1691.

Lombaerts, TJJ, Huisman, HO, Chu, QP, Mulder, JA & Joosten, DA (2009). NonlinearReconfiguring Flight Control Based on Online Physical Model Identification. Journal ofguidance control and dynamics, 32(3), 727-748.

Lombaerts, TJJ, Smaili, H, Stroosma, O, Chu, QP & Mulder, JA (2009). Piloted SimulatorEvaluation Results of New Fault-Tolerant Flight Control Algorithm. Journal of guidancecontrol and dynamics, 32(6), 1747-1765.

Sonneveldt, L, Oort, ER van, Chu, QP & Mulder, JA (2009). Nonlinear Adaptive TrajectoryControl Applied to an F-16 Model. Journal of guidance control and dynamics, 32(1),25-39.

Valente pais, AR, Wentink, M, Paassen, MM van & Mulder, M (2009). Comparison of ThreeMotion Cueing Algorithms for Curve Driving in an Urban Environment.Presence-teleoperators and virtual environments, 18(3), 200-221.

Veld, AC in t', Mulder, M, Paassen, MM van & Clarke, J.P. (MIT) (2009). Pilot Support Interfacefor Three-Degree Decelerating Approach Procedures. International journal of aviationpsychology, 19(3), 287-308.

Visser, CC de, Chu, QP & Mulder, JA (2009). A New Approach To Linear Regression withMultivariate Splines. Automatica, 45(12), 2903-2909.


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Weerdt, E De, Chu, QP & Mulder, JA (2009). Neural Network Output Optimization Using IntervalAnalysis. Ieee transactions on neural networks, 20(4), 638-653.

Weerdt, E De, Kampen, EJ van, Chu, QP & Mulder, JA (2009). New Approach for IntegerAmbiguity Resolution using Interval Analysis. Navigation, 55(4), 293-307.

Zaal, PMT, Pool, DM, Bruin, J de, Mulder, M & Paassen, MM van (2009). Use of Pitch andHeave Motion Cues in a Pitch Control Task. Journal of guidance control and dynamics,32(2), 366-377.

Zaal, PMT, Pool, DM, Chu, QP, Paassen, MM van, Mulder, M & Mulder, JA (2009). ModelingHuman Multimodel Perception and Control Using Genetic Maximum Likelihood Estimation.Journal of guidance control and dynamics, 32(4), 1089-1099.

Zaal, PMT, Pool, DM, Mulder, M & Paassen, MM van (2009). Multimodal Pilot Control Behaviorin Combined Target-Following Disturbance-Rejection Tasks. Journal of guidance controland dynamics, 32(5), 1418-1428.


Alwi, H, Edwards, C, Stroosma, O & Mulder, JA (2009). A Fault Tolerant Sliding Mode ControlAllocation Benchmark Evaluation. In Teresa.Escobet Joseba Quevedo & Vicenç Puig(Eds.), Proceedings of the Safeprocess '09, 7th IFAC Symposium on Fault Detection,Supervision and Safety of Technical Processes (pp. 265-270). Laxenburg, Austria: IFAC.

Alwi, H, Edwards, C, Stroosma, O & Mulder, JA (2009). Sliding Mode Propulsion Control Testson a Motion Flight Simulator. In John D. Schierman (Ed.), Proceedings of the AIAAGuidance, Navigation and Control Conference (pp. 1-23). Reston (VA): AIAA.

Amelink, MHJ, Paassen, MM van & Mulder, M (2009). Examples of Work Domain AnalysisApplied to Total Energy Control System. In J. Flach (Ed.), Proceedings of the 2009International Symposium on Aviation Psychology (pp. 479-484). Dayton (OH): WrightState University.

Arents, RRD, Groeneweg, J, Mulder, M & Paassen, MM van (2009). Predictive Landing Guidancein Synthetic Vision Displays. In J.D. Schierman & D.B. Bowman (Eds.), Proceedings ofthe AIAA Guidance, Navigation and Control Conference (pp. 1-15). Reston (VA): AIAA.

Beerens, GC, Damveld, HJ, Mulder, M & Paassen, MM van (2009). Design of Forcing Functionsfor the Identification of Human Control Bahavior. In E. Burnett (Ed.), Proceedings of theAIAA Modeling and Simulation Technologies Conference (pp. 1-25). Reston (VA): AIAA.

Beukers, H, Stroosma, O, Pool, DM, Mulder, M & Paassen, MM van (2009). Investigation intoPilot Perception and Control During Decrab Maneuvers in Simulated Flight. In Terry J.Burress (Ed.), Proceedings of the AIAA Modeling and Simulation Technologies Conference(pp. 1-29). Reston (VA): AIAA.

Borst, C, Mulder, M & Paassen, MM van (2009). Ecological Synthetic Vision Display to SupportPilot Terrain Awareness. In Michael Vidulich (Ed.), Proceedings of the 2009 ISAP (pp.503-508). Dayton (OH): Wright State University.

Borst, C, Mulder, M & Paassen, MM van (2009). Experimental Evaluation of an EcologicalSynthetic Vision Display. In David Riley (Ed.), Proceedings of the AIAA Guidance,Navigation and Control Conference (pp. 1-19). Reston (VA): AIAA.

Borst, C, Mulder, M & Paassen, MM van (2009). Theoretical Foundations of an EcologicalSynthetic Vision Display. In David Riley (Ed.), Proceedings of the Guidance, Navigationand Control Conference (pp. 1-20). Reston, VA: AIAA.

Clercq, K.M.E De, Kat, R de, Remes, B, Oudheusden, BW van & Bijl, H (2009). FlowVisualization and Force Measurements on a Hovering Flapping-Wing MAV 'Delfly II". InJ. Johnson (Ed.), Proceedings of the 39th AIAA Fluid Dynamics Conference, AIAA2009-4035 (pp. 1-6). Texas: AIAA.



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Comans, J, Stroosma, O, Paassen, MM van & Mulder, M (2009). Optimizing the SimonaResearch Simulator Visual Display System. In John D. Schierman (Ed.), Proceedings of2009 AIAA GNC/AFM/MST (pp. 1-19). Reston (VA): AIAA.

Correia Gracio, BJ, Wentink, M, Feenstra, P, Mulder, M, Paassen, MM van & Bles, W. (2009).Motion feedback in advanced driving manoeuvres. In A. Kemeny (Ed.), Proceedings ofthe Driving Simulation Conference Europe (DSC Europe 2009) (pp. 145-160). Monaco:IMAGINA.

Croon, GCHE de, Wagter, C de, Remes, B & Ruijsink, HM (2009). Local sampling for indoorflight. In T. Calders & K. Tuyls (Eds.), Proceedings of the BNAIC 2009 (pp. 1-8).Eindhoven: TU Eindhoven.

Dam, SBJ van, Mulder, M & Paassen, MM van (2009). The use of intent information in anairborne self-separation assistance display design. In J.D. Schierman & D.B. Bowman(Eds.), Proceedings of the AIAA Guidance, Navigation & Control Conference (pp. 1-19).Reston (VA): AIAA.

Dam, SBJ van, Mulder, M & Paassen, MM van (2009). Towards a Meaningful Presentation ofFMS Trajectory Information for Tactical Self-Separation. In J. Flach (Ed.), Proceedingsof the 15th International Symposium on Aviation Psychology (pp. 38-43). Dayton (OH):Wright State University.

Damveld, HJ, Abbink, DA, Mulder, M, Paassen, MM van, Helm, FCT van der & Hosman, RJAW(2009). Measuring the Contribution of the Neuromuscular System during a Pitch ControlTask. In E. Burnett (Ed.), Proceedings of the AIAA Modeling and Simulation TechnologiesConference (pp. 1-19). Reston (VA): AIAA.

Dijk, ES, Mulder, M, Paassen, MM van & Roerdink, MI (2009). An Interface for Inbound TrafficManagement by Air Traffic Control. In J.D. Schierman & D.B. Bowman (Eds.), Proceedingsof the AIAA Guidance, Navigation & Control Conference (pp. 1-23). Reston (VA): AIAA.

Dijk, ES, Paassen, MM van, Mulder, M & Roerdink, MI (2009). An Interface for Inbound TrafficRoute Planning. In J. Flach (Ed.), Proceedings of the 2009 International Symposium onAviation Psychology (pp. 44-49). Dayton (OH): Wright State University.

Eijk, A van der, Mulder, M, Paassen, MM van & Veld, AC in t' (2009). Assisting Air Traffic Controlin Planning and Monitoring Continuous Descent Approach Procedures. In J. Flach (Ed.),Proceedings of the 2009 International Symposium on Aviation Psychology (pp. 184-189).Dayton (OH): Wright State University.

Eijk, A van der, Mulder, M, Paassen, MM van & Veld, AC in t' (2009). Assisting Air Traffic Controlin Planning and Monitoring Continuous Descent Approach Procedures. In J.D. Schierman& D.B. Bowman (Eds.), Proceedings of the AIAA Guidance, Navigation and ControlConference (pp. 1-23). Reston (VA): AIAA.

Ellerbroek, J, Visser, M, Dam, SBJ van, Mulder, M & Paassen, MM van (2009). Towards aFour-Dimensional Separation Assistance Cockpit Display. In J. Flach (Ed.), Proceedingsof the 15th International Symposium on Aviation Psychology (pp. 575-580). Dayton (OH):Wright State University.

Ellerbroek, J, Visser, M, Dam, SBJ van, Mulder, M & Paassen, MM van (2009). Towards anEcological Four-Dimensional Self-Separation Assistance Display. In D.B. Doman & J.K.Thienel (Eds.), Proceedings of the AIAA Guidance, Navigation and Control Conferenceand Exhibit (pp. 1-18). Reston (VA): AIAA.

Ellerbroek, J, Visser, M, Dam, SBJ van, Mulder, M & Paassen, MM van (2009). Towards anEcological Four-Dimensional Self-Separation Assistance Display. In Dick Schaefer (Ed.),Proceedings of the Eurocontrol 8th Innovative Research Workshop & Exhibition (pp.79-89). Brétigny sur Orge, France: Eurocontrol Experimental Centre.


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Filipe, NRS, Weerdt, E De, Kampen, EJ van, Chu, QP & Mulder, JA (2009). Terminal AreaEnergy Management Trajectory Optimization Using Interval Analysis. In John D. Schierman(Ed.), Proceedings of 2009 AIAA GNC/AFM/MST (pp. 1-32). Reston (VA): AIAA.

Groot, S de, Winter, JCF de, Mulder, M & Wieringa, PA (2009). The Effect of Brake PedalStiffness on Race Car Driving Performance. In O..Ayad M.S. Mouchaweh & L. Chevrier(Eds.), Proceedings of the European Annual Conference on Human Decision-Makingand Manual Control (pp. 1-13). Reims, France: Université de Reims.

Groot, S de, Winter, JCF de, Wieringa, PA & Mulder, M (2009). An analysis of braking measures.In s.n. (Ed.), An analysis of braking measures (pp. 233-244). Monaco: s.n..

Hermes, P, Mulder, M, Paassen, MM van, Boering, JHL & Huisman, HO (2009). Solution SpaceBased Analysis of the Difficulty of Aircraft Merging Tasks. In J.D. Schierman & D.B.Bowman (Eds.), Proceedings of the AIAA Guidance, Navigation & Control Conference(pp. 1-26). Reston (VA): AIAA.

Hermes, P, Mulder, M, Paassen, MM van, Huisman, Hans & Boering, JHL (2009). SolutionSpace-Based Complexity Analysis of ATC Aircraft Merging Tasks. In J. Flach (Ed.),Proceedings of the 2009 International Symposium on Aviation Psychology (pp. 172-177).Dayton (OH): Wright State University.

Heylen, FM, Dam, SBJ van, Mulder, M & Paassen, MM van (2009). Design of an EcologicalVertical Separation Assistance Cockpit Display. In J. Flach (Ed.), Proceedings of the 15thInternational Symposium on Aviation Psychology (pp. 367-372). Dayton (OH): WrightState University.

Kampen, EJ van, Weerdt, E De, Chu, QP & Mulder, JA (2009). Aircraft Attitude DeterminationUsing GPS and an Interval Integer Ambiguity Resolution Algorithm. In John D. Schierman(Ed.), Proceedings of 2009 AIAA GNC/AFM/MST (pp. 1-15). Reston (VA): AIAA.

Koning, MP, Damveld, HJ, Stroosma, O, Mulder, M & Paassen, MM van (2009). A ComparisonBetween Three Handling and Flying Quality Assessment Methods. In S. Dunn (Ed.),Proceedings of the AIAA Atmospheric Flight Mechanics Conference (pp. 1-17). Reston(VA): AIAA.

Lam, TM, Mulder, M & Paassen, MM van (2009). Haptic Interface in UAV Tele-operating usingForce-stiffness Feedback. In C.L. Philip Chen (Ed.), Proceedings of the IEEE InternationalConference on Systems, Man and Cybernetics (pp. 851-856). Los Alamitos, California,USA: IEEE.

Lam, TM, Mulder, M, Paassen, MM van, Mulder, JA & Helm, FCT van der (2009). Force-stiffnessFeedback in UAV Tele-operation with Time Delay. In J.D. Schierman & D.B. Bowman(Eds.), Proceedings of the AIAA Guidance, Navigation and Control Conference (pp. 1-22).Reston (VA): AIAA.

Lombaerts, TJJ, Chu, QP, Mulder, JA & Joosten, DA (2009). Flight Control Reconfigurationbased on a Modular Approach. In Joseba Quevedo & Vicenç.Puig Teresa Escobet (Eds.),Proceedings of the Safeprocess'09, 7th IFAC Symposium on Fault Detection, Supervisionand Safety of Technial Processes (pp. 259-264). Laxenburg, Austria: IFAC.

Lombaerts, TJJ, Oort, ER van, Chu, QP, Mulder, JA & Joosten, DA (2009). On-Line AerodynamicModel Structure Selection and Parameter Estimation for fault Tolerant Control. InAgamemnon Crassidis (Ed.), Proceedings of the AIAA Atmospheric Flight Mechanics(AFM) Conference and Exhibit 2009 (pp. 1-24). Reston (VA): AIAA.

Marwijk, BJA van, Mulder, M, Mulder, M, Paassen, MM van & Borst, C (2009). A Human-MachineInterface for Replanning 4D Trajectories. In J. Flach (Ed.), Proceedings of the 2009International Symposium on Aviation Psychology (pp. 160-165). Dayton (OH): WrightState University.



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Masselink, B, Mulder, M, Paassen, MM van & Veld, AC in t' (2009). Design and Evaluation ofa Flight Director for Zero and Partial Gravity Flight. In J.D. Schierman & D.B. Bowman(Eds.), Proceedings of the AIAA Guidance, Navigation and Control Conference (pp. 1-27).Reston (VA): AIAA.

Meijer, LK, Gelder, N de, Mulder, M, Paassen, MM van & Veld, AC in t' (2009). Time-basedSpaced Continuous Descent Approaches in busy Terminal Manoeuvring Areas. In J.D.Schierman & D.B. Bowman (Eds.), Proceedings of the AIAA Guidance, Navigation andControl Conference (pp. 1-23). Reston (VA): AIAA.

Mulder, M, Lubbers, B extern, Zaal, PMT, Paassen, MM van & Mulder, JA (2009). AerodynamicHinge Moment Coefficient Estimation Using Automatic Fly-By-Wire Control Inputs. InTerry J. Burress & Bimal L. Aponso (Eds.), Proceedings of the AIAA Modeling andSimulation Technologies Conference and Exhibit (pp. 1-24). Reston (VA): AIAA.

Nieuwenhuizen, FM, Paassen, MM van, Mulder, M, Beykirch, KA & Bulthoff, HH (2009).TowardsSimulating a Mid-size Stewart Platform on a Large Hexapod Simulator. In T.J. Burress& B.L. Aponso (Eds.), Proceedings of the AIAA Modeling and Simulation TechnologiesConference and Exhibit (pp. 1-10). Reston (VA): AIAA.

Nieuwenhuizen, FM, Zaal, PMT, Teufel, H.J. & Mulder, M (2009).The effect of Simulator Motionon Pilot Control Behaviour for Agile and Inert Helicopter Dynamics. In Dr. KlausdieterPahlke (Ed.), Proceedings of the 35th European Rotorcraft Forum, Hamburg, Germany(pp. 1-13). Bonn, Germany: German Society for Aeronautics and Astronautics (DGLR).

Pina, P, Cummings, M, Crandall, JW & Della Penna, M (2008). Indentifying Generalizable MetricClasses to Evaluate Human-Robot Teams. In Catherina R. Burghart & Aaron Steinfeld(Eds.), Proceedings of Metrics for Human-Robot Interaction (pp. 13-20). School ofComputer Science, University of Hertfordshire.

Pool, DM, Zaal, PMT, Damveld, HJ, Paassen, MM van & Mulder, M (2009). Pilot Equalizationin Manual Control of Aircraft Dynamics. In C.L. Philip Chen (Ed.), Proceedings of theIEEE International Conference on Systems, Man and Cybernetics (pp. 2554-2559). LosAlamitos, California, USA: IEEE.

Pool, DM, Zaal, PMT, Paassen, MM van & Mulder, M (2009). Effects of Heave Washout Settingsin Aircraft Pitch Disturbance Rejection. In Terry J. Burress (Ed.), Proceedings of the AIAAModeling and Simulation Technologies Conference (pp. 1-20). Reston (VA): AIAA.

Pool, DM, Zaal, PMT, Paassen, MM van & Mulder, M (2009). Identification of Roll AttitudeControl Behavior During Turn Maneuvers. In Terry J. Burress (Ed.), Proceedings of theAIAA Modeling and Simulation Technologies Conference (pp. 1-19). Reston (VA): AIAA.

Smaili, H, Breeman, J, Lombaerts, TJJ & Stroosma, O (2009). A Benchmark for Fault TolerantFlight Control Evaluation. In Teresa.Escobet Joseba Quevedo & Vicenç Puig (Eds.),Proceedings of the Safeprocess '09, 7th IFAC Symposium on Fault Detection, Supervisionand Safety of Technical Processes (pp. 241-246). Laxenburg, Austria: IFAC.

Sonneveldt, L, Oort, ER van, Chu, QP & Mulder, JA (2009). Nonlinear Adaptive Flight ControlLaw Design and Handling Qualities Evaluation. In A. Astolfi (Ed.), Proceedings of the48th IEEE Conference on Decision and Control (pp. 7333-7338). Shanghai, China: IEEE.

Sonneveldt, L, Oort, ER van, Chu, QP, Visser, CC de, Mulder, JA & Breeman, J (2009).Lyapunov-based Fault Tolerant Flight Control Designs for a Modern Fighter AircraftModel. In E. Glenn Lightsey (Ed.), Proceedings of the AIAA Guidance, Navigation andControl Conference and Exhibit (pp. 1-23). Reston (VA): AIAA.

Stroosma, O, Smaili, H & Mulder, JA (2009). Pilot-In-The-Loop Evaluation of Fault-TolerantFlight Control Systems. In Teresa.Escobet Joseba Quevedo & Vicenç Puig (Eds.),Proceedings of the Safeprocess '09, 7th IFAC Symposium on Fault Detection, Supervisionand Safety of Technical Processes (pp. 271-276). Laxenburg, Austria: IFAC.


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Valente pais, AR, Paassen, MM van, Mulder, M & Wentink, M (2009). Perception CoherenceZones in Flight Simulation. In E. Burnett (Ed.), Proceedings of the AIAA Modeling andSimulation Technologies Conference (pp. 1-13). Reston (VA): AIAA.

Venrooij, J, Abbink, DA, Paassen, MM van & Mulder, M (2009). Relating BiodynamicFeedthrough to Neuromuscular Admittance. In C.L. Philip Chen (Ed.), Proceedings ofthe IEEE International Conference on Systems, Man and Cybernetics (pp. 1-6). SanAntonio, Texas USA: IEEE.

Visser, CC de, Mulder, JA & Chu, QP (2009). Global Nonlinear Aerodynamic Model Identificationwith Multivariate Splines. In Dr. Ravindra Jategaonkar (Ed.), Proceedings of the AIAAAtmospheric Flight Mechanics Conference (pp. 1-15). Reston (VA): AIAA.

Vroome, AM, Valente pais, AR, Pool, DM, Paassen, MM van & Mulder, M (2009). Identificationof Motion Perception Thresholds in Active Control Tasks. In E. Burnett (Ed.), Proceedingsof the AIAA Modeling and Simulation Technologies Conference (pp. 1-20). Reston (VA):AIAA.

Weerdt, E De, Chu, QP & Mulder, JA (2009). Global Fuel Optimization for Constrained SpacecraftFormation Rotations. In John D. Schierman (Ed.), Proceedings of 2009 AIAAGNC/AFM/MST (pp. 1-21). Reston (VA): AIAA.

Weerdt, E De, Visser, CC de, Chu, QP & Mulder, JA (2009). Fuzzy Simplex Splines. In MicheleBasseville & Antonio Vicino (Eds.), Proceedings of the 15th IFAC Symposium on SystemIdentification (pp. 1340-1345). IFAC.

Westerlaken, M, Veld, AC in t', Mulder, M, Paassen, MM van & Leege, AMP de (2009).Conceptual Development of the Free-Degree Decelerating Approach. In J.D. Schierman& D.B. Bowman (Eds.), Proceedings of the AIAA Guidance, Navigation and ControlConference (pp. 1-23). Reston (VA): AIAA.

Zaal, PMT, Pool, DM, Mulder, M & Paassen, MM van (2009). Multimodal Pilot Control Behaviorin Combined Target-Following Disturbance-Rejection Tasks. In Terry J. Burress & BimalL. Aponso (Eds.), Proceedings of the AIAA Modeling and Simulation TechnologiesConference and Exhibit (pp. 1-18). Reston (VA): AIAA.

Zaal, PMT, Pool, DM, Mulder, M, Paassen, MM van & Mulder, JA (2009). Multimodal PilotModel Identification in Real Flight. In Terry J. Burres & Bimal L. Aponso (Eds.),Proceedings of the AIAA Modeling and Simulation Technologies Conference and Exhibit(pp. 1-20). Reston (VA): AIAA.

Zaal, PMT, Pool, DM, Postema, FN, Veld, AC in t', Mulder, M, Paassen, MM van & Mulder, JA(2009). Design and Certification of a Fly-By-Wire System with Minimal Impact on theOriginal Flight Controls. In John D. Schierman & Julie.K..Thienel David B. Doman (Eds.),Proceedings of the AIAA Guidance, Navigation and Control Conference and Exhibit (pp.1-15). Reston (VA): AIAA.

Ph.D. theses

Borst, C (2009, juni 15). Ecological Approach to Pilot Terrain Awareness. TUD TechnischeUniversiteit Delft (264 pag.) (Ridderkerk: Ridderprint). Prom./coprom.: Prof.dr.ir. JA Mulder& Prof.dr.ir. M Mulder.

Damveld, HJ (2009, mei 20). A Cybernetic Approach to Assess the Longitudinal HandlingQualities of Aerolastic Aircraft. TUD Technische Universiteit Delft (337 pag.)(Nieuw-Vennep: H.J. Damveld). Prom./coprom.: Prof.dr.ir. JA Mulder & Dr.ir. MM vanPaassen.

Lam, TM (2009, mei 11). Haptic Interface for UAV Teleoperation. TUD Technische UniversiteitDelft (200 pag.) ( T.M. Lam). Prom./coprom.: Prof.dr.ir. JA Mulder, Prof.dr. FCT van derHelm & Prof.dr.ir. M Mulder.



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Winter, JCF de (2009, januari 27). Advancing simulation-based driver training.TUD TechnischeUniversiteit Delft (255 pag.) (Delft: TU Delft). Prom./coprom.: Prof.dr.ir. PA Wieringa &Prof.dr.ir. JA Mulder.

Other publications

Lam, TM (Ed.). (2009). Intelligent Aerial Vehicles (Advanced Robotic Series).Wenen, Oostenrijk:IN-TECH.

Lam, TM, Mulder, M & Paassen, MM van (2009). Stiffness-Force Feedback in UAVTele-Operation. In Lam T.M. (Ed.), Intelligent Aerial Vehicles (Advances Robotic Series)(pp. 359-374). Wenen, Oostenrijk: In-tech.

Lombaerts, TJJ (2009). Surviving the Improbable, Fault Tolerant Control for Civil TransportAircraft using a Modular Physical Approach. Belgocontrol, België: Steenokkerzeel (2009,november 19 - 2009, november 19).

Mulder, JA (2008). Bio-Geïnspireerde Micro- en Nanovliegtuigjes (Micro Aerial Vehicles). InDr. H. Weijma (Ed.), Natuurkundige Voordrachten (pp. 121-125). Den Haag: KoninklijkeMaatschappij voor Natuurkunde.

Mulder, M & Abbink, DA (2009). How to design Optimal Steering Wheel Charateristics forSteer-by-Wire. Delft: Nissan Motor Company, Ltd.

Mulder, M & Luijerink, HR (2009). TRC472-F Flight and Navigation Procedures Trainer Type I- Master Qualification Test Quide. Delft: The Real Cockpit (TRC).

Mulder, M (Ed.). (2009). ACM transactions on applied perceptions.Mulder, M (Ed.). (2009). The open aerospace engineering journal.Paassen, MM van (Ed.). (2009). Ieee transactions on systems man and cybernetics part

a-systems and humans.Pool, DM (2009). A Cybernetic Approach to Assess Simulator Fidelity. Presentation at the

Human-Centered Motion Cueing Workshop: Faculty of Aerospace Engineering, DelftUniversity of Technology (2009, mei 18 - 2009, mei 18).

Stroosma, O & Damveld, HJ (2009). TU Delft's Cybernetic Approach to Handling QualitiesResearch. EADS Military Air Systems: Manching, Germany (2008, november 11 - 2008,november 13).

Stroosma, O, Wentink, M & Fischer, Martin (2009). 4th Human-Centered Motion CueingWorkshop. 4th Human-Centered Motion Cueing Workshop: Delft (2009, mei 18 - 2009,mei 18).

Visser, CC de & Mulder, JA (2009). Aerodynamic Model Identification and Flight Control Designwith Multivariate Splines. DISC Benelux Meeting 2009: Spa, Belgie (2009, maart 16 -2009, maart 18).

Weerdt, E De, Chu, QP & Mulder, JA (2009). Fuel optimization for constrained rotations ofspacecraft formations using interval analysis. 28th Benelux Meeting of Systems andControl: Spa, Belgium (2009, maart 16 - 2009, maart 18).

Zaal, PMT, Pool, DM, Mulder, M & Paassen, MM van (2009). Cybernetic Approach to SimulatorFidelity. Poster included on CD-ROM with proceedings of the Royal Aeronautical SocietySpring 2009 Flight Simulation Conference: Royal Aeronautical Society, no.4 HamiltonPlace, London, UK (2009, juni 03 - 2009, juni 04).

Zaal, PMT, Pool, DM, Mulder, M & Paassen, MM van (2009). Multimodal Pilot ModelIdentification. Poster included on CD-ROM with proceedings of the Royal AeronauticalSociety Spring 2009 Flight Simulation Conference: Royal Aeronautical Society, no.4Hamilton Place, London, UK (2009, juni 03 - 2009, juni 04).


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Eindhoven University of TechnologyDepartment of Mechanical EngineeringDynamics and Control Technology Group

General Information

AddressEindhoven University of Technology, Department of Mechanical Engineering, Section:Dynamics & Control (D&C, H. Nijmeijer) Control Systems Technology ( CST, M. Steinbuch)and Hybrid & Networked Systems ( H&NS, W.P.M.H. Heemels) Postbus 513, 5600 MBEindhoven, The Netherlands. Phone (secretary) : + 31-40-2474817/2796. Fax (secretary)+31-40-2461418. E-mail (secretary): [email protected] or [email protected]

Scientific staffProf.dr. H. Nijmeijer, Prof.dr.ir. P. Jonker, Prof.dr.ir. N.B. Roozen, Dr.ir. J.J.M. Besselink,Dr.ir. R.H.B. Fey, Dr.ir. M.F. Heertjes, Dr.ir. A.D. de Kraker, Dr.ir. D. Kostic, Dr.ir. S.Koekebakker, Dr.ir. R. Huisman, Dr.ir. I. Lopez, Dr.ir. N. v.d. Wouw, Prof.dr.ir. M. Steinbuch,Prof.ir. O.H. Bosgra, Prof.dr. M.R. de Baar, Prof.dr.ir. W.P.M.H. Heemels, Dr.ir. M.F. Heertjes,Dr.ir. T. Hofman, Dr.ir. A.G. de Jager, Dr.ir. M.J.G. v.d. Molengraft, Dr.ir. P.W.J.M. Nuij, Dr.ir.P.C.J.N. Rosielle, Dr.ir. F.P.T. Willems

Technical and administrative staffP.G.M. Hamels, P.W.C. v. Hoof, E. Meinders, C.M. Neervoort-Sanders, P.R.M. Aspers, R.v.d. Bogaert, M.A.P.M. v. Gils, H.C.T. v.d. Loo, W.J. Loor, J.G.M. de Vries

PhD studentsM.Sc. A.A. Alvarez Aguirre, M.Sc. S. Adinandra, N. Bauer MSc, Ir. B. Besselink, Ir. B.Biemond, Ir. A. Denasi, Ir. N.J.M. van Dijk, Ir. M.C.F. Donkers, J. Pena MSc, S. Öncü, Ir. M.Hoeijmakers, Ir. R.W. v. Gils, Ir. S.W. Boere, I. Aladagli, M.Sc., Ir. J.J.T.J. de Best, Ir. K. vanBerkel, Ir. J.D.B.J. v.d. Boom, Ir. C.H.A. Criens, Ir. J. Elfring, Ir. A.J. den Hamer, Ir. R.M.A.van Herpen, Ir. R. Hoogendijk, Ir. R.J.M. Janssen, Ir. T.A.C. van Keulen, M.Sc., Ir. H.C.M.Meenink, Ir. S.H. v.d. Meulen, Ir. G.J.L. Naus, Dac Viet Ngo, M.Sc., Ir. D.J. Rijlaarsdam, Ir.M.J.C. Ronde, Ir. J. Ploeg, Ir. E. Steur, Ir. G. Witvoet

Temporary staff and postdocsDr.Ir. B. Bonsen, Ir. J.D.B.J. v.d. Boom, Ir. R.W. v. Gils Dr.Ir. J. Caarls, Dr.Ir. S. Lichiardopol,Dr. N. El Ghouti.

Cooperation with

Structure of cooperation

Department of Mechanical EngineeringThe (D&C) Dynamics and Control at the Department of Mechanical Engineering is involvedin the national research schools Engineering Mechanics and DISC. The control activities inthe Department of Mechanical Engineering are comprised in the Dynamics and ControlTechnology group and the Control Systems Technology group headed by Prof.Dr.Ir. M.Steinbuch. Where possible the control activities, in particular teaching graduate andundergraduate courses are combined under the umbrella of the Dynamics and Control group,the combination of the D&C group and CST group.They offer in cooperation with the section

Eindhoven University of TechnologyDepartment of Mechanical Engineering

Dynamics and Control Technology Group

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Systems Engineering the Master Track Dynamical Systems Design (DSD). Various otherco-operations within the Department exist.

Eindhoven University of TechnologyLocal cooperation exists in particular with the Department of Biomedical Engineering,Department of Electrical Engineering (Control Systems group, Electro-mechanics and PowerElectronics group), Department of Physics and with the Department of Mathematics andComputing Science, Department of Industrial Engineering & Innovation Sciences.

National Research SchoolsBesides participation in DISC the DCT group also takes part in the National Research SchoolEM (Engineering Mechanics).

National research institutesAs far as national research institutes are concerned, important co-operation exists with TNOScience and Industry in the following areas: in the field of structural acoustics, plasma fusionprocessesl, high-speed chattering; on automotive power trains , on active control of vehiclerestraint systems, and on vehicle dynamics and control. Given the large interest and numerousactivities in the automotive field, effort has been put into establishing jointly between TNO,TU/e and industrial partners a Competence Centre on Automotive Research (CCAR). Alsoa Senter funded project “Falcon” is running in cooperation with the Embedded SystemsInstitute and VanderLande.

Industrial ContactsApart from the mentioned Falcon project, co-operations with industrial partners exist in theform of a number of PhD projects. Other PhD and MSc projects are running with DTI, GCI,NXP, DAF, CCM, Bosch RexRoth Control, 2M, Vredestein, OTB and many others. The D&Cgroup is actively involved in the innovation programs High Tech Automotive Systems (HTAS)and PointOne.

International co-operationWithin the EU 6th and 7th framework programmes the DCT group participates in a numberof European Projects, such as SICONOS (non smooth dynamics and control) and the Networkof Excellence HYCON (Hybrid Control Network).

In the year 2008 again a large number of students went abroad for their 14 weeks trainingperiod, to various colleagues in the field (Australia, Detroit, Florida, Amherst, Aalborg, SanDiego, Buffalo, Mexico, Japan, Singapore, Shanghai …)

Brief descriptionResearch in the Dynamics and Control Technology Group

The general research objective of the Dynamics and Control Technology group is the studyof all aspects related to design, dynamics and control of high-performance mechanicalsystems. This covers the full range of topics such as design, modelling and analysis ofsystems, controller synthesis, signal and performance analysis. Practical and experimentalvalidation is, where possible, part of the research.The increasing requirements on accuracy,energy consumption, environmental aspects, and human comfort for many technical productsurge the need for a better understanding, modelling, analysis, and synthesis to improveperformance. This requires an accurate modelling of the dynamics, preferably in a formsuitable for analysis and, where possible, also for the synthesis of control systems. Inparticular for mechanical systems such an approach is feasible and promising, due to theexisting broad experience in the modelling of these systems. In other physical disciplinesthe situation is different and first principles are usually not so well developed. The inherentdynamic properties of mechanical systems are physical and geometric nonlinearities, possibly


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a large number of degrees of freedom, interactions between the degrees of freedom and,often, a relatively high speed of operation. The combination of these properties easily leadsto difficulties in the modelling and analysis, and thereby also in bringing a model-basedcontroller design to a successful end in practice. This is the basic challenge throughout theresearch in the DCT-Group, thereby aiming at methods and tools of practical value. Clearly,it is the ambition of the group to work at the forefront of present-day technology and to aimat a highly recognisable research stature within the department, but also within and outsidethe Netherlands.

The research in the Dynamics and Control Technology groups comprises DISC-related,research in the following areas:

• Advanced Motion systems• Process-control• Automotive technology

Special Activities

The Dynamics and Control group rated at the 2009 QANU research assessment of MechanicalEngineering as excellent regarding quality, productivity, relevance and viability.

Overview of results and future developments

Advanced Motion Systems

DISC projects

Advanced Motion Control.

Nijmeijer, P.P. JonkerProjectleader:R. Pieters, Zhenyu YeParticipants:

DescriptionIn motion systems, such as robots, pick-and-place machines and disc drives, the fundamentallimitation with respect to controlled performance is primarily due to causality. Because highaccuracy plant models are relatively easy to acquire, feed forward is used for servo taskswhereas the primary role of feedback is to suppress disturbances.The causality is expressedby the Bode sensitivity integral theorem, stating that a reduction of the low-frequentdisturbances will always be accompanied with an amplification of high frequent signals, e.g.measurements noise (the waterbed effect). This fundamental limitation is the driving forcefor a few lines of research: (i) further exploration of feed forward, including iterative learningcontrol, (ii) disturbance- and data-based control, i.e. using the internal model principle andthe principle of ‘machine-in-the-loop’ for adjusting the controller parameters on the basis ofon-line measurements, (iii) non-linear control of linear motion systems and, finally, (iv)multivariable control of mechanical systems. Related to these areas, also the possibleextension of frequency response analysis towards non-linear dynamics is addressed. Here,the group has a track-record with respect to identification and control of systems with friction.Several research projects have started in the area of vision in the loop. Various projectsaddress mechatronics research questions. One project is on the control of lightweight motionsystems with more actuators (and sensors) than rigid body degrees of freedom.The combined



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motion and vibration task and the co-operation with researchers from the mechanical designand the electrical domain make the project multidisciplinary and challenging. New activities,concentrate on medical robotics, in particular on minimally invasive robotic surgery systems.

Control of nonlinear mechanical systems

H. Nijmeijer, N. v.d. Wouw, D. KosticProjectleader:N.J. van Dijk, Ir. B. Besselink, M.Sc. S. Adinandra, M.Sc. J. Pena. Dr. S.Lichardopol.

Participants:

DescriptionIn the nonlinear control area emphasis lies on (i) controllability and observability ofnonsmooth/piecewise linear systems, (ii) stability and stabilization of nonlinear systems (iii)tracking control of underactuated systems. In the latter case one should think of systemswith less independent inputs than degrees of freedom. Typically this includes certainflexibilities in robot-like constructions as well as non holonomic systems like mobile robots,vehicles and ships. An illustrative example forms the RRR robot with only two actuatorsactive. Also, related results on observability of piecewise linear systems have been derived,and tested on the nonlinear beam in the DCT lab.

In the context of stability and stabilization of non smooth systems a number of results havebeen obtained, and demonstrated on a lab set up of a drill system.

A new IOP project on chatter control is running in cooperation with TNO.

Also a new IOP project on human robot interaction in cooperation with the dept of IndustrialEngineering and Innovation Sciences has been granted.

Embedded Systems.

H. Nijmeijer, N. v.d. Wouw, D. Kostic,Projectleader:J. Caarls, S. AdinandraParticipants:

DescriptionIt is our vision that the further development of embedded dynamical systems is very importantfor modern state-of-the-art motion system design. Also, Event driven control is a ESI fundedprogram.We developed a dedicated motion control course for the TWAIO-OOTI (OntwerpersOpleiding Technische Informatica) education, including hands-on experimentation. For thenear future we foresee further activities with the ESI. In the same spirit we continued ourRobocup activities on midsize and humanoid robots. An ESI Project in cooperation withvanderLande entitled Falcon is running with as main theme the development of the distributioncenter of the future.

Mobile robot structures

H. Nijmeijer, N. v.d. Wouw, D. Kostic,Projectleader:A.A. Alvarez Aguirre, J. Caarls, S. AdinandraParticipants:

DescriptionThis research line in the Dynamics & Control Technology Motion Laboratory has beeninitiated in 2000. Mobile, autonomous structures are very attractive for numerous application


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areas (space traveling, mail delivery, cleaning, inspections in hazardous environments etc.).Apart from mechanical design issues, these systems exhibit specific control challenges,especially because the systems are often under actuated and accurate measurementinformation is not available. The aims for this research line are: (i) development of anexperimental set-up for validation of (theoretical) non-linear control concepts, (ii) developmentand validation of non-linear models, controllers, and observers, (iii) development of arepresentative demonstration object for mobile and under actuated mechanical structures.(iv) development of a test environment of autonomous guided vehicles (AGVs). Upcomingactivities in this direction is the activity regarding humanoid robotics under the 3TU-umbrella.Cooperation in this area exists with TNO-Automotive regarding the control and a design ofa moving base (AGV) for the TNO-VEHIL lab in Helmond.

Synchronisation of non-linear systems

H. Nijmeijer, N. v.d. Wouw, D. KosticProjectleader:A.A. Alvarez Aguirre, J. Pena Ramirez, S. LichiardopolParticipants:

DescriptionIn this project fundamental methods are investigated for the design of synchronizingcontrollers for various types of mechanical systems. Also, the robustness and stability ofsynchronized controllers are studied. Synchronization, or co-ordination as it is often called,is relevant in various mechanical systems, for instance in case two or more robots, ships orvehicles are asked to coordinate their motions. As an experimental test-bed the pizza steppersare used. Similarly mobile robots are used for experimental vehicle coordination andformation. Future research in this field will concentrate on synchronization of mobile robotsand AGVs. Also, network synchronization, i.e. the synchronization of a large ensemble ofsystems, is becoming an important research theme. Potential applications are in coupledelectromechanical systems for secure communication and coupled neural cells. Theseactivities are coupled with the recent TU/e - initiative TELEMAN, with focus on roboticapplications.

A project in cooperation with Computer Science (Prof. C. van Hee) called TeleserviceRobotics aims at the master slave control of a service robot for care. Industrial partners aswell as care organizations cooperate in this project.

Process Control

DISC projects

Dynamic stabilization of combustion, suppression of acoustic instabilities

H. Nijmeijer, I. Lopez, P. de GoeyProjectleader:J.D.B.J. v.d. Boom, Ir. M. HoeijmakersParticipants:

DescriptionJointly with the Combustion Technology Group two projects on model based control forsuppression of acoustic instabilities in gas-fired household boilers and heaters are running.Experimental result are promising, and match well with earlier obtained simulation results.Several publications have been prepared on the subject.



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Pool boiling

H. NijmeijerProjectleader:R. v. GilsParticipants:

DescriptionA novel control algorithm for the dedicated control for thermal management – so called poolboiling – is developed in cooperation with the Energy Technology group at the Departmentof Mechanical Engineering.

Automotive Technology

DISC projects

Vehicle Dynamics Control and Tyres

H. Nijmeijer, I.J.M. Besselink, I. Lopez, N. v.d. WouwProjectleader:W.J.E. Evers, R. v.d. Steen, J. Ploeg, S. Öncü, B. BonsenParticipants:

DescriptionDuring the year about 10 students have been working on internal and external (TNO, DAF,LMS, Vredestein) master thesis projects. Several Bachelor projects and internal and external(BMW, DAF, Daimler-Chrysler, Goodyear, Intec) traineeships have been performed.

In the AES lab the Flat Plank Tyre Tester has been used for various experiments (e.g.motorcycle tyre measurements, stiffness measurements, cleat tests). A four wheel steeredvehicle has been obtained from TNO and several students have been working on a designof a suitable controller for this vehicle. The Tyre Measurement Tower with strain gaugemeasuring hub has been obtained from Delft University of Technology and work is ongoingto get the Tyre Measurement Tower operational. During 2006 a large effort is devoted tothe renewal of the large drum facility in the AES laboratory. The completion of this, whichis expected in the Spring of 2007, will provide an important test facility in the AES lab. Forinstance, vehicle and truck power train experiments become possible. Also tire testexperiments can be cone on the large drum at realistic vehicle velocities.

Research has been done in three main areas: tyre modelling, truck modelling and vehiclecontrol. A PhD student is working in cooperation with DAF and TNO on truck modeling andactgive cabine control. Extensive research is initiated around cooperate driving in the frameof a HTAS project Çonnect and Drive and in cooperation with TNO.

Finally, for the TUE Formula Student Racing Team a multibody vehicle model has been builtthat is used as a tool for designing the 2006 racing car.


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Publications

Book chapters/parts

A. Bemporad, M.K. Camlibel, W.P.M.H. Heemels, A.J. van der Schaft, J.M. Schumacher, B.De Schutter, Chapter 5: Further switched systems, in HYCON Handbook of HybridSystems Control Theory-Tools-Applications; Editors: F. Lamnabhi-Lagarrigue and J.Lunze, -, Cambridge University Press, Book Chapter 9780521765053 (2009)

B. De Schutter, W.P.M.H. Heemels, J. Lunze, C. Prieur, Chapter 2: Survey of modelling, analysisand control of hybrid systems, in HYCON Handbook of Hybrid Systems ControlTheory-Tools-Applications; Editors: F. Lamnabhi-Lagarrigue and J. Lunze, 31-55, F.Lamnabhi-Lagarrigue and J. Lunze, Book Chapter ISBN 9780521765053 (2009)

E. Garcia Canseco, R. Ortega, R. Pasumarthy, A.J. van der Schaft, Analysis and Control ofFinite-Dimensional Systems , in Modeling and Control of Complex Physical Systems: thePort-Hamiltonian Approach; Editors:The Geoplex Consortium, To appear, Springer, BookChapter (2009)

M. Lazar, W.P.M.H. Heemels, A. Jokic, Self-optimizing Robust Nonlinear Model PredictiveControl, in Assessment and Future Directions of Nonlinear Model Predictive Control.Lecture Notes in Control and Information Sciences 384; Editors: -, 27-40, Springer Verlag,Book Chapter (2009)

M. Lazar, W.P.M.H. Heemels, D. Munoz de la Pena, T. Alamo, Further results on ``RobustMPC using Linear Matrix Inequalities\'\', in Assessment and Future Directions of NonlinearModel Predictive Control, Lecture Notes in Control and Information Sciences; Editors: -,-, Springer-Verlag, Book Chapter (2009)

M. Steinbuch, J.J.M. van de Wijdeven, T.A.E. Oomen, K. van Berkel, G. Leenknegt, RecoveringData from Cracked Optical Discs using Hankel Iterative Learning Control, in Model-BasedControl: Bridging Rigorous Theory and Advanced Technology; Editors: Paul M. J. Vanden Hof, Carsten Scherer, and Peter S. C. Heuberger, 147-166, Springer, Book Chapter978-1-4419-0894-0 (2009)

M.C.F. Donkers, L.L. Hetel, W.P.M.H. Heemels, N. van de Wouw, M. Steinbuch, StabilityAnalysis of Networked Control Systems using a Switched Linear Systems Approach, inLecture Notes in Computer Science. 12th International Conference on Hybrid Systems:Computation and Control; Editors: Rupak Majumdar and Paulo Tabuada, 150-164,Springer, Book Chapter (2009)

R.L. Tousain, S.H. van der Meulen, Advances in Data-driven Optimization of Parametric andNon-parametric Feedforward Control Designs with Industrial Applications, in Model-BasedControl: Bridging Rigorous Theory and Advanced Technology; Editors: Paul M.J. Vanden Hof, Carsten Scherer, and Peter S.C. Heuberger, 167-184, Springer, Book Chapter978-1-4419-0894-0 (2009)

W.P.M.H. Heemels, D. Lehmann, J. Lunze, B. De Schutter, Chapter 1: Introduction, in HYCONHandbook of Hybrid Systems Control Theory-Tools-Applications; Editors: F.Lamnabhi-Lagarrigue and J. Lunze, 3-30, Cambridge University Press, Book ChapterISBN 9780521765053 (2009)


B. Brogliato, W.P.M.H. Heemels, Observer design for Lur'e systems with multivalued mappings:a passivity approach, IEEE Trans. on Aut. Control, 54(8), 1996-2001, (2009)



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B.A. Hennen, E. Westerhof, J.W. Oosterbeek, P.W.J.M. Nuij, D. De Lazzari, G.W. Spakman,M.R. de Baar, M. Steinbuch, A closed loop control system for stabilization of MHD eventson TEXTOR, Fusion Engineering and Design, 84, 928-934, (2009)

D. Thoen, W.A. Bongers, E. Westerhof, J.W. Oosterbeek, M.R. de Baar, M. van den Berg, V.van Beveren, A. Buerger, A.P.H. Goede, M. Graswinckel, B.A. Hennen, F.C. Schueller,Development and testing of a fast Fourier transform high dynamic-range spectraldiagnostics for millimeter wave characterization, Rev. Sci. Instr., 80(10350), --, (2009)

D.J.H. Bruijnen, E. Tabak, M.J.G. van de Molengraft, M. Steinbuch, Energy Buffered CarriageReversal for Wide Format Printing Systems, Mechatronics, 19, 735-747, (2009)

D.Y. Wang, S.Yao, M. Shost, J.H.Yoo, D. Cabush, D. Racine, R. Cloudt, F.P.T. Willems,Ammonia Sensor for Closed-Loop SCR Control, SAE Int. J. Passeng.Cars - ElectronElectr. Syst., 1(1), 323-333, (2009)

E. Steur, I. Tyukin, H. Nijmeijer, Semi-passivity and synchronization of diffusively coupledneuronal oscillators, Physica D, 238(21), 2119-2128, (2009)

E. Westerhof, S.K. Nielsen, J.W. Oosterbeek, M. Salewski, M.R. de Baar, W.A. Bongers, A.Buerger, B.A. Hennen, S. Korsholm, F. Leipold, D. Moseev, M. Stejner, D. Thoen, StrongScattering of High Power Millimeter Waves in Tokamak Plasmas with Tearing Modes,Phys. Rev. Lett., 103, 125001, (2009)

E.P. van der Laan, F.E. Veldpaus, A.G. de Jager, M. Steinbuch, Control-oriented Modelling ofOccupants in Frontal Impacts, Int. J. of Crashworthiness, 14(4), 323-337, (2009)

F. Castaños, B. Jayawardhana, R. Ortega, E. Garcia Canseco, A class of nonlinear RLC circuitsglobally stabilizable by proportional plus integral controllers, Circuits, Systems and SignalProcessing, 28(4), 609-623, (2009)

H.J.C. Huijberts, W. Michiels, H. Nijmeijer, Stabilizability via Time-Delayed Feedback: AnEigenvalue Optimization Approach, SIAM J. Appl. Dyn. Sys., 8(1), 1-20, (2009)

J.C.A. de Bruin, A. Doris, N. van de Wouw, W.P.M.H. Heemels, H. Nijmeijer, Control ofmechanical motion systems with non-collocation of actuation and friction: a Popov criterionapproach for input-to-state stability and set-valued nonlinearities, Automatica, 45(2),405-415, (2009)

J.D.B.J. van den Boom, A. Konnov, A.M.H.H. Verhasselt, V.N. Kornilov, L.P.H. de Goey, H.Nijmeijer, The effect of a DC electric field on the laminar burning velocity of premixedmethane/air flames, Proc. Combust. Inst., 32, 1196-1203, (2009)

J.J.M. van de Wijdeven, M.C.F. Donkers, O.H. Bosgra, Iterative Learning Control for UncertainSystems: Robust Monotonic Convergence Analysis, Automatica, 45(10), 2383-2391,(2009)

J.M.M. Rovers, J.W. Jansen, E. Lomonova, M.J.C. Ronde, Calculation of the static forcesamong the permanent magnets in a Halbach array, IEEE Trans. on Magnetics, 45(10),4372-4375, (2009)

L. Wu, J. Lam, W. Paszke, K. Galkowski, E. Rogers, A. Kummert, Control and filtering fordiscrete linear repetitive processes with H_inf and l_2– l_inf performance, MultidimensionalSystems and Sigal Processing, 20(3), 235-264, (2009)

M. Koitka, O. Kahrs, R.M.A. van Herpen, V. Hagenmeyer, SISO-Closed-Loop Identifikation:Eine Toolbox für den Einsatz in der industriellen Praxis, Automatisierungstechnik, 57(4),177 - 186, (2009)

M. Lazar, W.P.M.H. Heemels, A.R.Teel, Lyapunov functions, stability and input-to-state stabilitysubtleties for discrete-time discontinuous systems, IEEE Trans. on Aut. Control, 54(10),2421-2425, (2009)

M. Lazar, W.P.M.H. Heemels, Predictive control of hybrid systems: Input-to-state stability resultsfor sub-optimal solutions, Automatica, 45(1), 180-185, (2009)

M. Steinbuch, Mechatronics in Control!, Mechatronics, 19(1), 1, (2009)


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M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels, H. Nijmeijer, Stability of NetworkedControl Systems with Uncertain Time-varying Delays, IEEE Trans. on Aut. Control, 54(7),1575 - 1580, (2009)

M.F. Heertjes, M.J.G. van de Molengraft, Set-Point Variation in Learning Schemes withApplications to Wafer Scanners, Control Engineering Practice, 17, 345-356, (2009)

M.F. Heertjes, X.G.P. Schuurbiers, H. Nijmeijer, Performance-Improved Design of N-PIDControlled Motion Systems with Applications to Wafer Stages, ICS, 56(5), 1347-1355,(2009)

R. Cloudt, F.P.T. Willems, P. Van der Heijden, Cost and Fuel Efficient SCR-only Solution forpost-2010 HD Emission Standards, SAE Int. J. Fuels Lubr., 2(1), 399-406, (2009)

R. Cloudt, R.S.G. Baert, F.P.T.Willems, M.Vergouwe, SCR-only concept for heavy-duty Euro-VIapplications, Motortechnisch Zeitschrift, 70(9), 682-689, (2009)

R.J.E. Merry, M. Uyanik, M.J.G. van de Molengraft, K.R. Koops, M.G.A. van Veghel, M.Steinbuch, Identification, control and hysteresis compensation of a 3 DOF metrologicalAFM, AJC, 11(2), 130-143, (2009)

R.J.E. Merry, N.C.T. de Kleijn, M.J.G. van de Molengraft, M. Steinbuch, Using a walkingpiezolegs actuator to drive and control a high precision stage, IEEE/ASME Trans. onMechatronics, 14(1), 21-31, (2009)

R.M.C. Mestrom, R.H.B. Fey, H. Nijmeijer, Phase feedback for nonlinear MEM resonators inoscillator circuits, IEEE/ASME Trans. on Mechatronics, 14(4), 423-433, (2009)

S.K. Ravensbergen, P.C.J.N. Rosielle, M. Steinbuch, Improving Maneuverability and TactileFeedback in Medical Catheters, by Optimizing the Valve Towards Minimal Friction, J. ofMedical Devices, 3(1), 011003, (2009)

T. Hofman, M. Steinbuch, R.M. van Druten, A.F.A. Serrarens, Design of CVT-based hybridpassenger cars, IEEE Trans. on Vehicular Technology, 58(2), 572-587, (2009)

T. Hofman, S.G. Van der Tas, W. Ooms, E.W.P. Van Meijl, B.M. Laugeman, Development ofa Micro-Hybrid System for a Three-Wheeled Motor Taxi, WEVA Journal, 3, 1-9, (2009)

T. Hofman, T. Purnot, A Comparative Study and Analysis of an Optimized Control Strategy forthe Toyota Hybrid System, WEVA Journal, 3, 1-9, (2009)

T.A.C. van Keulen, G.J.L. Naus, A.G. de Jager, M.J.G. van de Molengraft, M. Steinbuch, N.P.I.Aneke, Predictive Cruise Control in Hybrid Electric Vehicles, WEVA Journal, 3, ISSN2032-6653,, (2009)

T.A.E. Oomen, J.J.M. van de Wijdeven, O.H. Bosgra, Suppressing Intersample Behavior inIterative Learning Control, Automatica, 45(4), 981-988, (2009)

W. Michiels, T. Vyhlidal, H.J.C. Huijberts, H. Nijmeijer, Stabilizability and stability robustnessof state derivative feedback controllers, SIAM J Control Optimization, 47(6), 3100-3117,(2009)

W.H.T.M. Aangenent, R. de Jong, M.J.G. van de Molengraft, M. Steinbuch, Time-domainperformance based nonlinear state feedback control of constrained linear systems, Int.J. of Control, 82(2), 352-364, (2009)

X.L.J. Seykens, R.S.G. Baert, L.M.T. Somers, F.P.T. Willems, Experimental Validation ofExtended NO and Soot Model for Advanced HD Diesel, SAE Int. J. Engines, 2(1), 609-619,(2009)


A.J. den Hamer, S. Weiland, M. Steinbuch, Model-free norm-based fixed structure controllersynthesis, in Proc. of IEEE Conf. on Decision and Control; Shanghai, China, 0-0, (2009)

A.J. den Hamer, S. Weiland, M. Steinbuch, Worst-case inter frequency grid behavior of transferfunctions identified via finite frequency response data, in Proc. of European ControlConference 2009; Budapest, Hungary, 0-0, (2009)



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A.V. Pavlov, E. Steur, N. van de Wouw, Controlled synchronization via nonlinear integralcoupling, in joint 48th IEEE Conference on Decision and Control and 28th Chinese ControlConference; Shanghai, China, 5263 -- 5268, (2009)

B. Besselink, N. van de Wouw, H. Nijmeijer, An error bound for model reduction of Lur'e-typesystems, in Proceedings of the joint 48th IEEE Conference on Decision and Control and28th Chinese Control Conference; Shanghai, China, 3264-3269, (2009)

C. Werner, P.C.J.N. Rosielle, M. Steinbuch, Design and realization of a long-stroke translationstage for SPM, in Euspen 2009; San Sebastian, Spain, 4, (2009)

D. Kostic, S. Adinandra, J. Caarls, N. van de Wouw, H. Nijmeijer, Collision-free Coordinationof a Group of Unicycle Mobile Robots, in 48th IEEE Conference on Decision and Control;Shanghai, China, 5667-5672, (2009)

D.V. Ngo, T. Hofman, M. Steinbuch, A.F.A. Serrarens, Performance Indices for VehicularPropulsion Systems, in The 15th Asia Pacific Automotive Engineering Conference –APAC15; Editors: -, HaNoi, Viet Nam, 1-9, (2009)

D.V. Ngo, T. Hofman, M. Steinbuch, A.F.A. Serrarens, Shifting Strategy for Step ChangeTransmission Vehicle – A Comparative Study and Design Method, in The 24th InternationalBattery, Hybrid and Fuel Cell Electric Vehicle Symposium (EVS24); Stavanger, Norway,xx, (2009)

E. Garcia Canseco, J.M.A. Scherpen, M. Kuindersma, Modeling for Control of a Wobble-YokeStirling Engine, in 2009 International Symposium on Nonlinear Theory and its Applications;Sapporo, Japan, 544-547, (2009)

E. Steur, I. Tyukin, H. Nijmeijer, Semi-passivity and synchronization of neuronal oscillators, inCHAOS 09; Editors: H. Huijberts, London, United Kingdom, 6, (2009)

E. van den Eijnden, R. Cloudt, F.P.T. Willems, P. Van der Heijden, Automated model fit toolfor SCR control and OBD development, in SAE World Congres; Detroit, United States,SAE 2009-01-1285, (2009)

E.P. van der Laan, A.G. de Jager, F.E. Veldpaus, M. Steinbuch, E. van Nunen, D. Willemsen,Continuous Restraint Control Systems: Safety Improvement for Various Occupants, in21st International Technical Conference on the Enhanced Safety of Vehicles (ESV), June15-18, 2009; Stuttgart, Germany, Germany, 1-11, (2009)

F.P.T.Willems, D. Foster, Integrated Powertrain Control to meet future CO2 and Euro-6 emissiontargets for a diesel hybrid with SCR-deNOx system, in Proc. of 2009 American ControlConference; St.Louis, MO, United States, 3944-3949, (2009)

G. Witvoet, E. Westerhof, M. Steinbuch, N. Doelman, M.R. de Baar, Control oriented modelingand simulation of the sawtooth instability in nuclear fusion tokamak plasmas, in 48thConference on Decision and Control; Editors: IEEE, Shanghai, China, 1360-1366, (2009)

G.J.L. Naus, R.P.A. Vugts, J. Ploeg, M.J.G. van de Molengraft, M. Steinbuch, Towardson-the-road implementation of cooperative adaptive cruise control, in 16th ITS WorldCongress; Stockholm, Sweden, -, (2009)

H. Moneva, J. Caarls, J. Verriet, A Holonic Approach to Warehouse Control, in 7th InternationalConference on Practical Applications of Agents and Multi-Agent Systems (PAAMS);Editors: Demazeau, Y., Pavón, J., Corchado, J.M., Bajo, J., Salamanca, Spain, 1-10,(2009)

H. Nijmeijer, N. van de Wouw, A. Pavlov, Convergency and Regulation, in ACD 2009; Editors:ACD, Zielona Gora, Poland, CD Rom 3 p., (2009)

H.C.M. Meenink, P.C.J.N. Rosielle, M. Steinbuch, M.D. de Smet, Instrument manipulator for amaster-slave robot for vitreo-retinal ophthalmic surgery, in Proceedings of the 21stInternational Conference of Society for Medical Innovation and Technology; Sinaia,Romania, 53, (2009)


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J.H. Richter, S.Weiland, W.P.M.H. Heemels, J. Lunze, Decoupling-based reconfigurable controlof linear systems after actuator faults, in Proc. European Control Conference; Editors: -,Budapest, Hungary, -, (2009)

J.J. Slob, M.R.L. Kuijpers, P.C.J.N. Rosielle, M. Steinbuch, A new approach to extended linearmotion technology: the wall is the limit, in Driving Simulation Conference 2009; Editors:., Monaco, Monaco, 6p., (2009)

J.J.T.H. de Best, M.J.G. van de Molengraft, M. Steinbuch, Direct Dynamic Visual Servoing at1 kHz by using the Product as 1.5D Encoder, in IEEE International Conference on Control& Automation (ICCA'09); Christchurch, New Zealand, -, (2009)

J.M.M. Rovers, J.W. Jansen, E. Lomonova, M.J.C. Ronde, Calculation of the static forcesamong the permanent magnets in a Halbach array, in Proc. IEEE International MagneticsConference; Sacramento, California, United States, 1-6, (2009)

J.M.W. van de Weem, J.G. Barajas Ramirez, R. Femat, H. Nijmeijer, Conditions forsynchronization and chaos in networks of â-cells, in CHAOS 09; Editors: H. Huijberts,London, United Kingdom, 6, (2009)

L. Hladowski, Z. Cai, K. Galkowski, E. Rogers, M.A.R. Freeman, P.L. Lewin, W. Paszke,Repetitive Process based Iterative Learning Control designed by LMIs and ExperimentallyVerified on a Gantry Robot, in American Control Conference ; St. Louis, MO,, UnitedStates, 949-954, (2009)

L.J.M. van den Bedem, J.C,. Groen, P.C.J.N. Rosielle, M. Steinbuch, Design of a Slave Robotfor Minimally Invasive Surgery, in Proceedings of the 21st International Conference ofSociety for Medical Innovation and Technology; Sinaia, Romania, 52, (2009)

L.J.M. van den Bedem, R. Hendrix, P.C.J.N. Rosielle, M. Steinbuch, H. Nijmeijer, Design of aMinimally Invasive Surgical Teleoperated Master-Slave System with Haptic Feedback,in Proceedings of the 2009 IEEE International Conference on Mechatronics andAutomation; Changchun, China, 60--65, (2009)

L.L. Hetel, M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels, J. Daafouz, H. Nijmeijer,Comparison of stability characterisations for networked control systems, in Proceedingsof the joint 48th IEEE Conference on Decision and Control and 28th Chinese ControlConference; Editors: //, Shanghai, China, 7911-7916,, (2009)

L.L. Hetel, M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels, J. Daafouz, H. Nijmeijer,Comparison of stability characterisations for networked control systems, in Proceedingsof the joint 48th IEEE Conference on Decision and Control and 28th Chinese ControlConference; Editors: //, Shanghai, China, 7911-7916,, (2009)

M. Steinbuch, K. van Berkel, G. Leenknegt, T.A.E. Oomen, J.J.M. van de Wijdeven, Readingof Cracked Optical Discs Using Iterative Learning Control, in Proceedings of the 2009American Control Conference; Saint Louis, MO, United States, 258-263, (2009)

M.F. Heertjes, D.W.T. Hennekens, A. van Engelen, M. Steinbuch, dynamic decoupling in motionsystems using a gradient approximation-based algorithm, in conference on decision andcontrol; Shanghai, China, 5086-5091, (2009)

M.F. Heertjes, G. Leenknegt, B. van Goch, H. Nijmeijer, Improved noise sensitivity underhigh-gain feedback in nano-positioning motion systems, in American Control Conference;St.Louis, United States, 283-288, (2009)

M.F. Heertjes, G. Leenknegt, B. van Goch, H. Nijmeijer, Improved noise sensitivity underhigh-gain feedback in nano-positioning motion systems, in American Control Conference;St.Louis, United States, 283-288, (2009)

M.F. Heertjes, R. Rampadarath, R. Waiboer, Nonlinear Q-filter in the Learning ofNano-Positioning Motion Systems, in European Control Conference; Budapest, Hungary,1523-1528, (2009)



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M.J.C. Ronde, R.J.E. Merry, M.J.G. van de Molengraft, K.R. Koops, M. Steinbuch, Multivariablecontrol of a metrological Atomic Force Microscope, in European Control Conference(ECC); Budapest, Hungary, 2265-2270, (2009)

M.R. de Baar, B.A. Hennen, J.W. Oosterbeek, P.W.J.M. Nuij, M. Steinbuch, E. Westerhof, Atearing mode track-and-suppress system for TEXTOR, in 5th IAEA Technical Meetingon ECRH Physics and Technology for Large Fusion Devices; Gandhinagar, India, --,(2009)

O. Zweigle, M.J.G. van de Molengraft, R. D'Andrea, K. Haussermann, RoboEarth: connectingrobots worldwide, in Proceedings of the 2nd International Conference on InteractionSciences: Information Technology, Culture and Human; Editors: -, Seoul, Korea, Republicof, 184-191, (2009)

R. Cloudt, F.P.T. Willems, P. Van der Heijden, Cost and Fuel Efficient SCR-only Solution forpost-2010 HD Emission Standards, in SAE World Congres; Detroit, United States, SAE2009-01-0915, (2009)

R. Henselmans, L.A. Cacace, G.F.IJ. Kramer, P.C.J.N. Rosielle, M. Steinbuch, Developmentand performance demonstration of the NANOMEFOS non-contact measurement machinefor freeform optics, in Euspen Annual meeting 2009; San Sebastian, Spain, 164-168,(2009)

R. Henselmans, L.A. Cacace, G.F.IJ. Kramer, P.C.J.N. Rosielle, M. Steinbuch, Freeform opticsmeasurements with the NANOMEFOS non-contact measurement machine, in SPIEOptifab 2009; Rochester, NY, United States, ??, (2009)

R. Henselmans, L.A. Cacace, G.F.IJ. Kramer, P.C.J.N. Rosielle, M. Steinbuch, Nanometerlevel freeform surface measurements with the NANOMEFOS non-contact measurementmachine , in SPIE Optics & Photonics 2009: Optical Manufacturing and Testing VIII;Editors: Proceedings of SPIE Volume 7426, San Diego, United States, 7426-5, (2009)

R.J.E. Merry, D.J. Kessels, M.J.G. van de Molengraft, M. Steinbuch, Repetitive control appliedto a walking piezo actuator, in International Conference on Control & Automation;Christchurch, New Zealand, 6 pages, (2009)

R.J.E. Merry, M. Uyanik, K.R. Koops, M.J.G. van de Molengraft, M.G.A. van Veghel, M.Steinbuch, Modeling and compensation of asymmetric hysteresis in a piezo actuatedmetrological AFM, in American Control Conference; St. Louis, United States, 6, (2009)

R.J.E. Merry, M.J.G. van de Molengraft, M. Steinbuch, Modeling of a walking piezo actuator,in International Conference on Control & Automation; Christchurch, New Zealand, 6pages, (2009)

R.S. Pieters, P.P. Jonker, H. Nijmeijer, Real-time centre detection of an OLED structure, inACIVS; Bordeaux, France, 9, (2009)

S. Lichiardopol, N. van de Wouw, H. Nijmeijer, Control Scheme for Human-RobotCo-manipulation of Uncertain, Time-varying Loads, in Proceedings of the 2009 ACCConference; Editors: ., St. Louis, United States, ., (2009)

S.H. van der Meulen, A.G. de Jager, E. van der Noll, F.E. Veldpaus, F. van der Sluis, M.Steinbuch, Improving Pushbelt Continuously Variable Transmission Efficiency viaExtremum Seeking Control, in Proceedings of the 3rd IEEE Multi-conference on Systemsand Control; Saint Petersburg, Russian Federation, 357-362, (2009)

S.K. Ravensbergen, R.F.M.M. Hamelinck, P.C.J.N. Rosielle, M. Steinbuch, Deformable mirrors:design fundamentals for force actuation of continuous facesheets, in SPIE Optics &Photonics 2009; Advanced Wavefront Control: Methods, Devices, and Applications VII;Editors: Richard A. Carreras; Troy A. Rhoadarmer; David C. Dayton, San Diego, UnitedStates, 74660G-8, (2009)


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T. Hofman, A comparative study and analysis of an optimized control strategy for the ToyotaHybrid System, in Int. Battery, Hybrid and Fuel Cell Electric Vehicle Symposium &Exposition; Editors: Prof. J. van Mierlo, Stavanger, Norway, 1-9, (2009)

T. Hofman, D. Van Leeuwen, Analysis of modeling and simulation methodologies for vehicularpropulsion systems, in Vehicle Propulsion and Power Conference; Editors: IEEE-VPPC,Dearborn, United States, 1-8, (2009)

T. Hofman, Development of a Micro-Hybrid System for a Three-Wheeled Motor Taxi, in Int.Battery, Hybrid and Fuel Cell Electric Vehicle Symposium & Exposition; Editors: Prof. J.van Mierlo, Stavanger, Norway, 1-6, (2009)

T. Oguchi, H. Nijmeijer, N.Tanaka, A Synchronization Condition for Coupled Nonlinear Systemswith Time-delay -A Circle Criterion Approach-, in CHAOS 09; Editors: H. Huijberts, London,United Kingdom, 6, (2009)

T.A.C. van Keulen, G.J.L. Naus, A.G. de Jager, M.J.G. van de Molengraft, M. Steinbuch, N.P.I.Aneke, Predictive Cruise Control in Hybrid Electric Vehicles, in EVS24 InternationalBattery, Hybrid and Fuel Cell Electric Vehicle Symposium; Editors: -, Stavanger, Norway,-, (2009)

T.A.E. Oomen, J.J.M. van de Wijdeven, O.H. Bosgra, Low-Order System Identification andOptimal Control of Intersample Behavior in ILC, in Proceedings of the 2009 AmericanControl Conference; Saint Louis, MO, United States, 271-276, (2009)

T.A.E. Oomen, O.H. Bosgra, M.M.J. van de Wal, Identification for Robust Inferential Control,in Proceedings of the 48th Conference on Decision and Control; Shanghai, China,2581-2586, (2009)

T.A.E. Oomen, O.H. Bosgra, Well-Posed Model Quality Estimation by Design of ValidationExperiments, in Proceedings of the 15th IFAC Symposium on System Identification(SYSID 2009); Saint-Malo, France, 1199-1204, (2009)

T.A.E. Oomen, R.M.A. van Herpen, O.H. Bosgra, Robust-Control-Relevant Coprime FactorIdentification with Application to Model Validation of a Wafer Stage, in Proceedings ofthe 15th IFAC Symposium on System Identification (SYSID 2009); Saint-Malo, France,1044-1049, (2009)

T.H.A. van den Broek, N. van de Wouw, H. Nijmeijer, Formation Control of Unicycle MobileRobots: a Virtual Structure Approach, in Proceedings of the joint 48th IEEE Conferenceon Decision and Control and 28th Chinese Control Conference; Editors: IEEE, Shanghai,China, 3264-3269, (2009)

W. Paszke, Iterative Learning Control by Linear Repetitive Processes Theory, in 28th BeneluxMeeting on Systems and Control; Editors: M. Gevers and R. Sepulchre, Spa, Belgium,149-150, (2009)

W. Paszke, O. Bachelier, New Robust Stability and Stabilization Conditions for Linear RepetitiveProcesses, in 6th International Workshop on Multidimensional (nD) Systems ; Editors:N. Karampetakis, Thessaloniki, Greece, 1-6, (2009)

W. Paszke, P. Rapisarda, E. Rogers, M. Steinbuch, Dissipative stability theory for linear repetitiveprocesses with application in iterative learning control, in Proc. of Symposium on LearningControl at IEEE CDC 2009 ; Editors: -, Shanghai, China, -, (2009)

W.H.T.M. Aangenent, C.H.A. Criens, M.J.G. van de Molengraft, M.F. Heertjes, M. Steinbuch,LPV control of an active vibration isolation system, in 2009 American Control Conference;Hyatt Regency Riverfront, St. Louis, MO, United States, 6, (2009)

W.H.T.M. Aangenent, C.H.A. Criens, M.J.G. van de Molengraft, M.F. Heertjes, M. Steinbuch,LPV control of an active vibration isolation system, in American Control Conference;St.Louis, United States, 3730-3735, (2009)



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W.H.T.M. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft, M. Steinbuch, LinearControl of Time-Domain Constrained Systems, in 48th Conference on Decision andControl; Editors: IEEE, Shanghai, China, 5339-5344, (2009)

W.J.E. Evers, I.J.M. Besselink, A. Teerhuis, A.C.M. Knaap, van der, H. Nijmeijer, Controllingactive cabin suspensions in commercial vehicles, in American Control Conference; SaintLouis, United States, 683-688, (2009)

W.P.M.H. Heemels, A.R. Teel, N. van de Wouw, D. Nesic, Networked control systems withcommunication constraints: Tradeoffs between transmission intervals and delays, inProceedings of the European Control Conference 2009; Editors: //, Budapest, Hungary,//, (2009)

W.P.M.H. Heemels, A.R. Teel, N. van de Wouw, D. Nesic, Networked control systems withcommunication constraints: Tradeoffs between transmission intervals and delays, inProceedings of the European Control Conference 2009; Editors: //, Budapest, Hungary,//, (2009)

W.P.M.H. Heemels, D. Nesic, A.R. Teel, N. van de Wouw, Networked and Quantized ControlSystems with Communication Delays, in Proceedings of the joint 48th IEEE Conferenceon Decision and Control and 28th Chinese Control Conference; Editors: //, Shanghai,China, 7929-7935, (2009)

W.P.M.H. Heemels, D. Nesic, A.R. Teel, N. van de Wouw, Networked and Quantized ControlSystems with Communication Delays, in Proceedings of the joint 48th IEEE Conferenceon Decision and Control and 28th Chinese Control Conference; Editors: //, Shanghai,China, 7929-7935, (2009)

W.P.M.H. Heemels, J. Daafouz, G. Millerioux, Design of observer-based controllers for LPVsystems with unknown parameters, in Proc. Joint 48th IEEE Conference on Decisionand Control (CDC) and 28th Chinese Control Conference; Editors: IEEE, Shanghai,China, 1836-1841, (2009)

X.L.J. Seykens, R.S.G. Baert, L.M.T. Somers, F.P.T. Willems, Experimental Validation ofExtended NO and Soot Model for Advanced HD Diesel, in SAE World Congres 2009;Detroit, United States, SAE 2009-01-0683, (2009)

Ph.D. theses

E.P.van der Laan, Seat Belt Control: From modeling to experiment, PhD. Thesis, 2009, TU/eAdvisors: M. Steinbuch, A.G. de Jager

L.A. Cacace, An Optical Distance Sensor - tilt robust differential confocal measurement withmm range and nm accuracy, PhD. Thesis, 2009, TU/e Advisors: M. Steinbuch, P.C.J.N.Rosielle

R. Henselmans, Non-contact Measurement Machine for Freeform Optics, PhD. Thesis, 2009,TU/e Advisors: M. Steinbuch, P.C.J.N. Rosielle

R.J.E. Merry, Performance driven control of nano-motion systems, PhD. Thesis, 2009, TU/eAdvisors: M. Steinbuch, Co-advisor: M.J.G. van de Molengraft

Other publications

patent H.C.M. Meenink, Surgical Robot , Patent: NL233598 (2009)


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Eindhoven University of TechnologyDepartment of Electrical Engineering – Control Systems

General Information

AddressEindhoven University of Technology, Department of Electrical Engineering P.O. Box 513,5600 MB Eindhoven, Netherlands. Phone: 040–247 23 00. Fax. 040–243 45 82 @E–mail:[email protected]

Scientific staffProf. dr. ir. A.C.P.M. Backx, Prof. dr. ir. P.P.J. van den Bosch, Prof. Ir. O.H. Bosgra, Dr. ir.A.A.H. Damen, Ing. W. Hendrix, Dr. A. Jokic, M.Sc., Dr.ir. J.T.B.A. Kessels, Dr. M. Lazar,M.Sc., Dr.ir. C.M.M. van Lierop, Dr. L. Ozkan, M.Sc., Dr.ir. A. Veltman, Dr. S. Weiland, Dr.ir.Y. Zhu.

PhD studentsIr. J. Achterberg, Ir. F. van Belzen, Ir. C. Bikcora, Ir. P.J. van Bree, C. Ding, M.Sc., M.Ezzeldin, M.Sc., M. Gajdusek, M.Sc., Ir. R. Gielen, Ir. R. Hermans, Ir. P. van der Hulst, Ir.R.A.M. Hol, A. Katalenic, M.Sc., Ir. M. Musters, Ir. J. Sijs, Ir. J. Stolte, Ir. E. Tazelaar, Ir.J.A.W. Vissers, S. Wattamwar, M.Sc.,

Cooperation withAPX (Amsterdam), ASML (Veldhoven), Assembleon, Bayer (Belgium/Germany), ECN(Petten), FEI (Eindhoven), Ford Research (Aachen), Ford (USA), IPCOS Technology, Kema(Arnhem), Océ (Venlo), Philips ApTech, Philips Lighting, PPG Fiberglas, Prodrive (Eindhoven),REXAM (Dongen), Shell (Amsterdam), SORG (Germany), Thales (Hengelo), TenneT(Arnhem), Vereenigde Glasfabrieken

With partners in the EU–Brite Euram programs EURON and 6th FW EU project PROMATCHand NoE HYCON, 7th FW EU project E-Price.

KeywordsModeling, identification, system analysis, control system synthesis, model reduction, predictivecontrol, spatial-temporal systems, automotive control, embedded and network controlledsystems, motion control, process control.

Brief descriptionMastering complexity, present in mechatronics, power systems, automotive systems orindustrial processes, is a driving force in our area. CS recognizes this challenge and isdirecting its fundamental research into the following phenomena:

• Lyapunov methods for real-time control: Our ideas of flexible Lyapunov functionssupport a much better and less conservative framework for stability analysis andstabilizing controller synthesis for complex (hybrid) nonlinear systems with hardconstraints, compared to the 100 years old standard stability theory of Lyapunov.

• Model reduction: Easily-created complex models need model reduction strategies toallow analysis and synthesis.

• Distributed systems: The abundance of (local) computer power and measurementinformation and affordable communication have stimulated decentralized and distributedidentification, estimation and control strategies.


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• Spatial-temporal systems: Spatial effects of non-rigid-body mechanics andelectromagnetic phenomena in electromagnetic materials such as eddy currents andhysteresis in advanced actuator design have stimulated over-actuation with spatialeffects.

CS searches for interesting problems which mutually influence theory development andapplications. Moreover, they have to be relevant for industrial partners to achieve sufficientfinancial support for both our applied and fundamental research.The selection is also beinginfluenced by the department's research agenda, the interaction among the chairs in thedepartment, the university and the research school DISC.

DISC projects

System identification for control

prof. dr.ir. P.P.J. van den BoschProjectleader:

DescriptionIn the very center of our research, we consider mathematical system theory and controltechnology research. This research delivers the tools and technologies needed formodel-based monitoring, analysis and control in the selected application areas of CS. Wehave selected tools that allow us to contribute in the areas of embedded controllers, intelligentpower nets, automotive applications, and process control. As a consequence and consideringthe capabilities and interests of the staff members, the following focus points have beenselected as our core research: modeling, model reduction of high-dimensional models,identification of nonlinear and multi-mode systems, analysis and synthesis of multi-modemodels and synthesis with convex optimization with Linear Matrix Inequalities (LMI). Lookingback, our selection has been quite successful and major scientific and industrial results havebeen achieved.

We can convince industry that our technology contributes to the solution of their problems.

In close cooperation with our partners we are allowed to carry out the experiments in theirenvironment, e.g. electromechanical devices at Philips or ASML, embedded systems incopiers at Oce, energy management of vehicles at Ford, vehicle engines at TNO, distillationcolumn at Shell and Bayer, glass production process at Rexam, etc. The estimated costsof these processes are several dozens of millions to hundred million Euros.These high costsare avoided for CS as these experimental research facilities become available to us. Theability to discuss experiments with technicians in industry and our ability to cooperate withthe partners to set up experimental prototype systems by connecting our measurement andcontrol computers to their process is of paramount importance.This expertise, which, amongstother things, requires up-to-date knowledge of new relevant technologies, has to be and ispresent in the permanent technical staff of our group.

Ongoing workModel reduction: Mathematical models have proven to be indispensable tools to condenseinformation, knowledge and understanding of dynamic phenomena. Due to an ever increasingperformance of computer and modeling software, such models can often be generatedautomatically from first principle equations or from observed or measured data. Dependingon the required accuracy such models become increasingly complex, of large-scale (>103-105 equations) and require large amounts of calculation time for their analysis and


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simulation. In many applications the complexity of such models becomes prohibitive to allowfor real-time and on-line applications. Research on model reduction in CS is motivated bythe need to develop methodologies to infer simple substitute models for these high-complexity(or large-scale) models that still retain the accuracy of the original, complex model.

CS conducts research in spectral and projection methods for the simplification of large-scalenon-linear systems in computational fluid dynamics.The dynamic behavior in such processesis dominated by convective and diffusive phenomena. Key in this research is the investigationof data dependent methods. We extended the method of proper orthogonal decompositionsto allow for a direct construction of reduced-order controlled systems in a number ofapplications.We investigated (data dependent) spectral analysis and spectral decompositionmethods for signals in multiple independent and in multiple dependent variables. For generaltensor descriptions of multivariable signals we developed a novel concept of tensorial singularvalues and singular value decompositions. This has led to novel insights in the question ofreconstruction of continuous time multivariable signals from sampled data. We developeda novel algorithm for the computation of tensorial singular value decompositions and currentlyinvestigate its convergence and accuracy properties. Using reduced order models, we madeadvancements in the understanding and detection of bifurcation phenomena in tubularreactors and glass furnaces as part of investigations in two specific projects. For theseinvestigations we developed nonlinear system identification techniques for the modeling ofFourier (or modal- or spectral-) coefficients of observed data. Solutions have been foundfor multi-way arrays and low rank approximation of tensors by singular value decomposition.As reduced models are ultimately used for control, a novel strategy has been formulatedand solved to design a reduced order controller directly based on the complex model, omittingthe explicit step of model reduction. These tools are being applied for some industrialprocesses, an industrial glass furnace and the particle filter in an exhaust catalytic converter.

Flexible Lyapunov Functions for Real-time Control: The research is based on the VENIgrant of Dr. Lazar, which was awarded in 2008.This project generalizes and relaxes classicalLyapunov stability theory to build real-time viable stabilizing controllers. Since 1892 Lyapunovtheory has been the central tool in systems theory for constructing controllers that achievestability. However, there is still a significant gap in real-life application of Lyapunov theory.The main reason is conservativeness of Lyapunov conditions, expressed in terms of Lyapunovfunctions (LFs). They are often over conservative and not suited for tailoring the behaviorof real-time systems. Classically, a LF enforces that all trajectories describing the evolutionof a system in time are contained within a contracting tube with a fixed, predefined shape,which is centered at and converges to a desired converging point.

A novel idea that generalizes Lyapunov functions and makes them flexible is proposed, soas to allow viable system evolutions. In contrast with the century-old, classical approach,the focus is on designing optimization problems that allow the shape, centre and radius ofa tube associated with a LF to be free variables that can be optimized on-line.This approach,sustained by the increased capability of digital processors, makes flexible LFs more suitablefor stabilization of nonlinear and hybrid systems, which exhibit limit cycles and discontinuousbehavior.The project is investigating the potential of flexible LFs for robust control via on-lineoptimization of disturbance attenuation and stabilization of network systems via dissipativityand on-line optimization of supply rates. Conservativeness is significantly reduced comparedto classical, off-line stabilizing controller design. These results are relevant for fast systems(order of milliseconds sampling, e.g., power circuits, mechatronics, automotive systems),electrical energy distribution networks and intelligent road estimation networks.

The VENI project already delivered 6 journal papers in CS's most prestigious journals, 6book chapters and 10 papers in the top conferences, such as IEEE CDC, ACC and HSCC.


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Dr. M. Lazar was invited by Prof. Allgöwer (IST Stuttgart) to give guest lectures and toorganize in 2011 the next NMPC conference as program chair. Also, he is the chair andorganizer of an invited session on networked control systems at ACC 2010.

Model predictive control of hybrid and embedded systems: The exploitation of modelpredictive control (MPC) beyond the traditional slow systems in the process industry basedon linear models is of high practical value. The research conducted at our group has takenaway much of the confusion around the precise interpretation of the robustness and stabilityof hybrid and nonlinear model predictive controllers. We have shown for the first time thatthe existing stable hybrid predictive control schemes can have zero robustness, a propertythat hampers any practical implementation of a hybrid MPC controller. To enable practicalimplementation of hybrid MPC, we exploited the input-to-state stability framework. In doingso, we developed various new algorithms for synthesizing MPC controllers for hybrid systemsfor which the desirable practical property of robustness (input-to-state stability) is guaranteed.We also proposed novel stabilizing MPC schemes for nonlinear discrete-time systems thatonly need knowledge of the output of the system (not the full state), which has substantialpractical value. Furthermore, the classical stability concepts of MPC have been generalizedto allow for discrete dynamics. This extends the applicability of the developed resultssignificantly, as discrete dynamics can be used to represent robot tasks and sequences ofoperations in industrial batch processes, or computer program executions in embedded andsoftware-enabled control systems.

Next to these theoretical contributions, we kept a clear eye towards the practical feasibilityin the sense of minimizing computational complexity of the algorithms derived. Comparedto existing sub-optimal MPC schemes, the algorithms developed by our group arecomputationally less demanding, which enables application to fast systems. This wasachieved using simpler stabilization constraints that can be implemented as a finite numberof linear inequalities, so the control law can be computed by solving a single linear program.We applied the algorithms to control high frequency DC-DC power converters. In this waywe showed, for the first time, that sample times below 1 millisecond are feasible for modelpredictive control. Novel research in this direction looks at even faster FPGA implementationsvia approximate explicit solutions that can lead to computational times in the order ofnanoseconds. With Ford USA we have used the same control strategy for controlling thefuel injection of their engines. Our approach showed better accuracy and faster behaviorthan other existing state-of-the-art approaches and received a best master thesis andconference paper award from IEEE. This opens up roads towards a wide range of newapplications with fast dynamics in mechatronics, automotive, robotics and aerospace.

Applications:

Smart actuatorsThe common research with EPE on advanced actuator concepts, especially 6 DOF floatingplatforms, has continued successfully. In spite of many initial hesitations about our concept,industry is starting to realize that our approach is an attractive alternative of their presentsolutions.They increasingly support us with advice, and technical and financial support.Theresearch on a flying manipulator with wireless communication and energy transfer hasresulted in a convincing demonstration. Research continues on active vibration isolationbased on both passive and actively-controlled electromagnetic forces and on a high-accuratepower amplifier with an extreme accuracy of up to 30 bits. A new common research projectXtreme has become operational to deal with extreme motion (up to 100 ms-2 accelerationand up to 0.2 nm accuracy) and non-rigid body dynamics. With such accelerations,mechanical constructions have to become light-weight and start to bend and vibrate. Withspatial distributed forces and torques, these spatial vibrations will be actively damped. As


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a consequence of their higher energy efficiency, reluctance actuator will enter application.For CS these devices pose additional challenges owing to their non-linear stiffness, saturation,hysteresis and eddy currents. Based on our added value for ASML, they consider us theuniversity group for their research on lithographic processes. The head of research onmetrology and control in ASML has been appointed as part-time professor on LithographicProcess Control in CS. We will cooperate even more with ASML owing to the largest KWRproject Metrology. In cooperation with FEI we have found a solution to improve the speedof focusing their electron microscopes. Based on a novel sensor for magnetic fields with aresolution of 1 microTesla, we are able to control the magnetic field of their lenses muchfaster, which results in a much higher throughput, and so new industrial applications likeonline inspection, of their microscopes.

Price-based control of power systemsOur proposed price-based control strategy has now gained international recognition, illustratedby invited and awarded papers and invited presentations. It is the only known approach thatcan guarantee a reliable supply of electric energy in the presence of less-predictablerenewable energy sources (micro-turbines, wind, solar), market liberalization, physicalconstraints in the grid and continents spanning transmission systems. Furthermore, it isproven to ensure economically optimal operation of the system. As we have proposed adistributed controller structure, the size and the complexity of the EU power net can be dealtwith. Research is going on to implement an MPC controller which guarantees dynamicoptimality and constraint satisfaction during transients. A new, granted EU research proposal,with CS as main author and project leader, will study the control and computer scienceaspects of such price-based systems.The research with EPS will continue to find a solutionfor the Dutch power system in cooperation with APX, Kema and TenneT.

Process controlResearch has continued to better understand the physical and chemical behavior of reactionsduring non-homogeneous and non-stationary process conditions. It is believed, and hasalready been illustrated with experiments, that e.g. a non-uniform temperature distributioncan stimulate catalytic chemical reactions at much lower temperatures and, consequently,with much less energy requirements. If these assumptions hold, completely new approachesfor process design and control have been created, yielding processes with much higherefficiencies, lower investments and better controllable product quality. With the Departmentof Chemical Engineering an experimental setup is being created to test and validate themany research hypotheses on controlling these advanced catalytic reactions. A new projecton improving crystallization processes, and a KWR project on gas turbines have started. Aspulsed-power plasma's and our approach has much in common, common research initiativesare being proposed.

Wireless sensor networksAs cables in machines have to be avoided, wireless connections are becoming desirablealternatives. Initial attempts with adjusted commercially-available WiFi channels had yieldeduseful results for closed loop operation at about 1 kHz. Still, the latency and the jitter in theseconnections are still too large for higher-demanding control applications with 10 to 20 kHzsampling rates. Basic problem is the packet-switched character of this type of connectionsand the sharing of the same physical channel by all control loops, mutually reducing eachother performance. Next we have explored light as communication medium. It has yet noformal protocols, so emphasis is being put on latency and jitter and is in full operation nowwith negligible delays. Moreover, each channel can utilize its own light beam, so no capacityreduction is to be expected when more loops become operational. We plan to design withinthe department's CWTE center research dedicated to minimal latency and jitter characteristics


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of wireless communication channels for real-time control. Our contribution is based on ourfundamental research on stabilization of networked control systems via non-monotone controlLyapunov functions, on the stabilization of linear systems with time-varying delays and onoptimal decentralized Kalman filters.

AutomotiveThe research of energy management systems has been extended to include plug-in vehicles.Coping with real-time varying prices of the grid, the energy management system of thevehicle has to be extended with plug-in capabilities, where decisions can be made when toretrieve and when to store electric energy.With 9 million vehicles in The Netherlands, plug-invehicles introduce a considerable impact on the public power system. Both power and energyconstraints prevent a quick and easy introduction. We will continue to study an “optimal”interface, we will start cooperating in a new Dutch D-INCERT initiative on the introductionof electrical vehicles in the near future and in new HTAS programs and participate in KWRprogram Energy Management with DAF and in KWR program FlexPower with PhilipsAppTech.

Publications

Book chapters/parts

Gielen, R.H., Olaru, S. & Lazar, M. (2009). On polytopic approximations of systems withtime-varying input delays. In L. Magni, D.M. Raimondo & F. Allgoewer (Eds.), Nonlinearmodel predictive control:Towards new challenging applications (Lecture Notes in Controland Information Sciences, 384) (pp. 225-233). Berlin: Springer.

Lazar, M. & Jokic, A. (2009). Synthesis of trajectory-dependent control Lyapunov functions bya single linear program. In Proceedings 12th international conference on Hybrid systems:computation and control, HSCC 2009, April 13-15, 2009, San Francisco, California(Lecture Notes in Computer Science, 5469) (pp. 237-251). Berlin: Springer-Verlag.

Lazar, M., Heemels, W.P.M.H., Munoz de la Pena, D. & Alamo, T. (2009). Further Results on“Robust MPC Using Linear Matrix Inequalities”. In Nonlinear Model Predictive Control :Towards New Challenging Applications (Lecture Notes in Control and InformationSciences, 384) (pp. 89-98). Berlin: Springer-Verlag.

Sijs, J. & Lazar, M. (2009). On event based state estimation. In Hybrid Systems: Computationand Control (Lecture Notes in Computer Science, 5469) (pp. 336-350). Berlin:Springer-Verlag.


Bree, P.J. van, Veltman, A., Hendrix, W.H.A. & Bosch, P.P.J. van den (2009).Prediction ofbattery behavior subject to high-rate partial state of charge. IEEE Transactions onVehicular Technology, 58(2), 588-595.

Jansen, J.W., Lierop, C.M.M. van, Lomonova, E.A. & Bosch, P.P.J. van den (2009).High-precision 'flying carpet'. Mikroniek, 49(1), 5-9.

Jokic, A., Lazar, M. & Bosch, P.P.J. van den (2009). On constrained steady-state regulation:dynamic KKT controllers. IEEE Transactions on Automatic Control, 54(9), 2250-2254.

Jokic, A., Lazar, M. & Bosch, P.P.J. van den (2009). Real-time control of power systems usingnodal prices. International Journal of Electrical Power and Energy Systems, 31(9),522-530.

Kessels, J.T.B.A., Foster, D.L. & Bleuanus, W.A.J. (2009). Fuel penalty comparison for(electrically) heated Catalyst technology. Oil and Gas Science and Technology, 65(1),47-54.


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Koroglu, H. & Scherer, C.W. (2009). Generalized asymptotic regulation with guaranteed H2performance: an LMI solution. Automatica,45(3),823-829.

Lazar, M. & Heemels, W.P.M.H. (2009). Predictive control of hybrid systems: input-to-statestability results for sub-optimal solutions. Automatica,45(1),179-185.

Lazar, M., Heemels, W.P.M.H. & Teel, A.R. (2009). Lyapunov functions, stability andinput-to-state stability subtleties for discrete-time discontinuous systems. IEEETransactions on Automatic Control, 54(10),2421-2425.

Lierop, C.M.M. van, Jansen, J.W., Damen, A.A.H., Lomonova, E.A., Bosch, P.P.J. van den &Vandenput, A.J.A. (2009). Model-based commutation of a long-stroke magneticallylevitated linear actuator. IEEE Transactions on Industry Applications, 45(6), 1982-1990.

Oomen, T.A.E., Wijdeven, J.J.M. van de & Bosgra, O.H. (2009). Suppressing intersamplebehavior in iterative learning control. Automatica, 45(4), 981-988.

Raimondo, D.M., Limon, D., Lazar, M., Magni, L. & Camacho, E.F. (2009). Min-max modelpredictive control of nonlinear systems: a unifying overview on stability. European Journalof Control, 15(1), 5-21.

Tazelaar, E., Bruinsma, J., Veenhuizen, P.A. & Bosch, P.P.J. van den (2009). Driving cyclecharacterization and generation, for design and control of fuel cell buses. World ElectricVehicle Journal, 3, 1-8.

Xu, Zuhua, Zhao, Jun, Qian, Jixin & Zhu, Y. (2009). Nonlinear MPC using an identified LPVmodel. Industrial and Engineering Chemistry Research, 48(6), 3043-3051.

Zhu, Y. (2009). System identification for process control: recent experience and outlook.International Journal of Modelling,Identification and Control, 6(2), 89-103.


Achterberg, J., Lierop, C.M.M. van & Bosch, P.P.J. van den (2009). Control of a moving magnetplanar actuator at industrial specifications. In Proceedings of the 28th Benelux Meetingon Systems and Control, March 16-18, 2009, Spa, Belgium (pp. 84-84). Spa: SolcressSeminar Center.

Achterberg, J., Rovers, J.M.M., Lierop, C.M.M. van, Jansen, J.W., Bosch, P.P.J. van den &Lomonova, E. (2009). Model based commutation containing edge coils for a movingmagnet planar actuator. In Proceedings of the 7th International Symposium on LinearDrives for Industry Applications (pp. 4-284). Incheon, Korea: LDIA.

Belzen, F. van & Weiland, S.(2009). Approximation of nD systems using tensor decompositions.In Proceedings of the International Workshop on Multidimensional (nD) Systems, June29th - July 1st, 2009, Thessaloniki, Greece (pp. 1-8). Piscataway: IEEE Service Center.

Belzen, F. van, Weiland, S. & Ozkan, L. (2009). Model reduction of multi-variable distributedsystems through empirical projection spaces. In Proceedings Joint 48th IEEE Conferenceon Decision and Control and 28th Chinese Control Conference, 16-18 December 2009,Shanghai, China (pp. 5351-5356). Piscataway: IEEE.

Bosch, P.P.J. van den, Jokic, A., Frunt, J., Kling, W.L., Nobel, F., Boonekamp, P., Boer, W. de& Hermans, R.M. (2009). Incentives-based ancillary services for power system integrity.In Proceedings of the 6th International Conference on the European Energy Market (EEM2009) 27-29 May 2009, Leuven, Belgium (pp. 1198-1/7). Piscataway: IEEE.

Bree, P.J. van, Lierop, C.M.M. van & Bosch, P.P.J. van den (2009). Characterization of hysteresiswithin magnetic electron lenses. In Proceedings of the 28th Benelux Meeting on Systemsand Control, March 16-18, 2009, Spa, Belgium (pp. 81). Spa: Solcress Seminar Center.

Bree, P.J. van, Lierop, C.M.M. van & Bosch, P.P.J. van den (2009). Control-oriented hysteresismodels for magnetic electron lenses. In Proceedings 7th International Symposium onHysteresis Modeling and Micromagnetics (HMM-2009), 11-14 May 2009, Gaithersburg,Maryland Vol. 45.IEEE Transactions on Magnetics (pp. 5235-5238). Piscataway: IEEE.


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Damoiseaux, A.C.R., Jokic, A., Lazar, M. & Bosch, P.P.J. van den (2009). Non-centralizedmodel predictive control of power networks. In Proceedings of the 28th Benelux Meetingon Systems and Control, March 16-18, 2009, Spa, Belgium (pp. 164-164). Spa: SolcressSeminar Center.

Ding, C., Damen, A.A.H. & Bosch, P.P.J. van den (2009). A simple LPV identification and controlscheme for an electromagnetic suspension system. In Proceedings of the 7th InternationalSymposium on Linear Drives for Industry Applications, LDIA 2009, 20-23 September2009, Incheon, Korea (pp. 1-4).

Ding, C., Damen, A.A.H. & Bosch, P.P.J. van den (2009). Stabilization & vibration control ofGaussmount suspension system. In Proceedings of the 28th Benelux Meeting on Systemsand Control, March 16-18, 2009, Spa, Belgium (pp. 175-175). Spa: Solcress SeminarCenter.

Ezzeldin Mahdy Abdelmonem, M., Bosch, P.P.J. van den & Waarsing, R. (2009). Improvedconvergence of MRAC design for printing system. In Proceedings of the 28th AmericanControl Conference, (ACC '09) 10 – 12 June 2009, St. Louis, MO, USA (pp. 3232-3237).Piscataway: IEEE.

Ezzeldin Mahdy Abdelmonem, M., Jokic, A. & Bosch, P.P.J. van den (2009). Modeling andcontrol of inkjet printhead. In Proceedings of the 28th Benelux Meeting on Systems andControl, March 16-18, 2009, Spa, Belgium (pp. 68-68). Spa: Solcress Seminar Center.

Foster, D.L., Kessels, J.T.B.A., Aneke, E. & Rojer, C. (2009). Hybrid-assisted DPF regenerationin distribution trucks. In Proceedings of the 24th International Battery, Hybrid and FuelCell Electric Vehicle Symposium & Exhibition (EVS 24), Stavanger, Norway, May 13-16,2009 (pp. 1-8). New York: Electric Vehicle Council.

Gajdusek, M., Damen, A.A.H. & Bosch, P.P.J. van den (2009). Auto-alignment procedure formagnetically levitated planar actuator with moving magnets. In Proceedings of the 7thInternational Symposium on Linear Drives for Industry Applications, LDIA 2009, 20-23September 2009, Incheon, Korea (pp. 170-173).

Gajdusek, M., Damen, A.A.H. & Bosch, P.P.J. van den (2009). Comparison of error causes incommutation of magnetically levitated planar actuator with moving magnets. InProceedings of the 7th International Symposium on Linear Drives for Industry Applications,LDIA 2009, 20-23 September 2009, Incheon, Korea (pp. 166-169).

Gajdusek, M., Overboom, T.T., Damen, A.A.H. & Bosch, P.P.J. van den (2009). Infrared wirelessdata transfer for real-time motion control. In Proceedings of the IFAC workshop onProgrammable Devices and Embedded Systems (PDeS 2009), 10-12 february 2009,Roznov, Czech Republic (pp. 1-6). Oxford: Pergamon.

Gielen, R.H. & Lazar, M. (2009). Further results on stabilization of linear systems withtime-varying input delay. In Proceedings of 8th IFAC Workshop on Time-Delay Systems,1-2 September 2009, Sinaia, Romania (pp. 1-6).Oxford: Pergamon.

Gielen, R.H. & Lazar, M. (2009). Stabilization of networked control systems via non-monotonecontrol Lyapunov functions. In Proceedings Joint 48th IEEE Conference on Decision andControl and 28th Chinese Control Conference, 16-18 December 2009, Shanghai, China(pp. 7942-7948). Piscataway: IEEE.

Hamer, A.J. den, Weiland, S. & Steinbuch, M. (2009). Model-free norm-based fixed structurecontroller synthesis. In Proceedings of the 48th IEEE Conference on Decision and Controland 28th Chinese Control Conference (CDC / CCC) 16-18 December 2009, Shanghai,China (pp. 4030-4035). Piscataway: IEEE.

Hamer, A.J. den, Weiland, S. & Steinbuch, M. (2009). Model-free optimal control synthesis. InProceedings of the 28th Benelux Meeting on Systems and Control, March 16-18, 2009,Spa, Belgium (pp. 57-57). Spa: Solcress Seminar Center.


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Hamer, A.J. den, Weiland, S. & Steinbuch, M. (2009). Worst-case inter frequency grid behaviorof transfer functions identified via finite frequency response data. In Proceedings of the10th European Control Conference (ECC'09), 23-26 August 2009, Budapest, Hungary(pp. 466-471). Europea Union Control Association (EUCA).

Hermans, R.M., Lazar, M., Di Cairano, S. & Kolmanovsky, I. (2009). Low-complexity modelpredictive control of electromagnetic actuators with a stability guarantee. In Proceedingsof the 28th American Control Conference, (ACC '09) 10-12 June 2009, St. Louis, Missouri(pp. 2708-2713). Piscataway: IEEE.

Hermans, R.M., Lazar, M., Di Cairano, S. & Kolmanovsky, I. (2009). Low-complexity modelpredictive control of electromagnetic actuators. In Proceedings of the IEEE EUROCON2009 Conference, 18-23 May 2009, St.Petersburg (pp. 1972-1977). Piscataway: IEEE.

Jokic, A. & Lazar, M. (2009). On decentralized stabilization of discrete-time nonlinear systems.In Proceedings of the 28th American Control Conference, (ACC '09) 10-12 June 2009,St. Louis, MO, USA (pp. 5777-5782). Piscataway, NJ: IEEE.

Jokic, A. & Lazar, M. (2009). On stabilization of discrete-time nonlinear systems under informationconstraints. In Proceedings 1st IFAC Workshop on Estimation and Control of NetworkedSystems, 24-26 September 2009, Venice, Italy (pp. 1-6). Oxford: Pergamon.

Jokic, A., Bosch, P.P.J. van den & Hermans, R.M. (2009). Distributed, price-based controlapproach to marketbased operation of future power systems. In Proceedings of the 6thInternational Conference on the European Energy Market (EEM 2009) 27-29 May 2009,Leuven, Belgium (pp. 5207170-1/6). Piscataway: IEEE.

Kessels, J.T.B.A., Foster, D.L. & Bosch, P.P.J. van den (2009). Integrated powertrain controlfor hybrid electric vehicles with electric variable transmission. In Proceedings of the IEEEVehicle Power and Propulsion Conference 2009, VPPC'09, 7-10 September 2009,Dearborn, Michigan (pp. 376-381). Piscataway: IEEE ServiceCenter.

Kessels, J.T.B.A., Sijs, J., Hermans, R.M., Damen, A.A.H. & Bosch, P.P.J. van den (2009).On-line identification of vehicle fuel consumption for energy and emission management:an LTP system analysis. In Proceedings of the 2008 American Control Conference(ACC2008), June 11-13, 2008, Seattle, Washington, (pp. 2070-2075). Piscataway: IEEE.

Keulen, T.A.C. van, Steinbuch, M., Kessels, J.T.B.A. & Foster, D.L. (2009). Energy managementin hybrid electric vehicles: benefit of prediction. In Proceedings 8th InternationalSymposium & Transmission Expo Innovative Fahrzeug-Getriebe, 30 November-3December 2009, Berlin, Germany (pp. 1-11).

Lazar, M. (2009). Flexible control Lyapunov functions. In Proceedings of the 28th AmericanControl Conference, (ACC '09) 10 - 12 June 2009, St. Louis, MO (pp. 102-107).Piscataway: IEEE.

Lazar, M., Heemels, W.P.M.H. & Jokic, A. (2009). Self-optimizing robust nonlinear modelpredictive control. In M.Thoma, F. Allgöwer & M. Morari (Eds.), Nonlinear model predictivecontrol : towards new challenging applications Vol. 384. Lecture Notes in Control andInformation Sciences (pp. 27-40). Berlin: Springer.

Mutsaers, M.E.C. & Weiland, S. (2009). Model reduction and controller synthesis for L2 systems.In Proceedings of the 28th Benelux Meeting on Systems and Control, March 16-18, 2009,Spa, Belgium (pp. 51-51). Spa: Solcress Seminar Center.

Mutsaers, M.E.C., Weiland, S. & Engelaar, R.C. (2009). Reduced-order observer design usinga Lagrangian model. In Proceedings Joint 48th IEEE conference on Decision and Controland 28th Chinese Control Conference, December 16-18, 2009, Shanghai, P.R. China(pp. 5384-5389). Piscataway: IEEE.


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Oomen, T.A.E. & Bosgra, O.H. (2009). Well-posed model quality estimation by design ofvalidation experiments.In E. Walter (Ed.), Proceedings of the 15th IFAC Symposium onSystem Identification (SYSID 2009) 6-8 July 2009, Saint-Malo, France (pp. 1199-1204).Oxford: Pergamon.

Oomen, T.A.E., Bosgra, O.H. & Wal, M. van de (2009). Identification for robust inferential control.In Proceedings of the 48th IEEE Conference on Decision and Control and 28th ChineseControl Conference (CDC /CCC) 16-18 december 2009, Shanghai, China (pp. 2581-2586).Piscataway: IEEE Service Center.

Oomen, T.A.E., Herpen, R.M.A. van & Bosgra, O.H. (2009). Robust-Control-Relevant CoprimeFactor Identification with Application to Model Validation of a Wafer Stage. In E. Walter(Ed.), Proceedings of the 15th IFAC Symposium on System Identification (SYSID 2009)6-8 July 2009, Saint-Malo, France (pp. 1044-1049).Saint Malo, France: IFAC.

Oomen, T.A.E., Herpen, R.M.A. van, Bosgra, O.H. & Wal, M.M.J. van de (2009). Highperformance beyondrigid-body control of next-generation Flexible Stages. In Proceedingsof the 10th Philips Conference on Applications of Control Technology, February 3-4,2009, Hilvarenbeek, The Netherlands (pp. 1-2).

Oruc, S., Sijs, J. & Bosch, P.P.J. van den (2009). Optimal decentralized Kalman filter. InProceedings of the 17th Mediterranean Conference on Control and Automation, MED '09,24-26 June 2009, Thessaloniki, Greece, (pp. 803-808). Piscataway: IEEE.

Richter, J.H., Weiland, S., Heemels, W.P.M.H. & Lunze, J. (2009). Decoupling-basedreconfigurable control of linear systems after actuator faults. In Proceedings of the 10thEuropean Control Conference, ECC'09, August 23-26, 2009, Budapest, Hungary (pp.2512-2517).

Sijs, J., Meer, S.M. van der, Kruithof, M.C. & Baan, J. (2009). A Modular Architecture for ObjectTracking and Migration in Self-Organizing, Distributed Systems. In Proceedings of the1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys'09), 24-26September 2009, Venice, Italy.

Stolte, J., Backx, A.C.P.M. & Bosgra, O.H. (2009). Extremely fast catalyst temperature pulsing:design of a prototype reactor. In S. Engell & Y. Arkun (Eds.), Proceedings InternationalSymposium on Advanced Control of Chemical Processes 2009, ADCHEM 2009, 12-15July 2009, Istanbul, Turkey (pp. 219-1/6). Oxford: Pergamon.

Stolte, J., Backx, A.C.P.M. & Bosgra, O.H. (2009). Very fast temperature pulsing: catalyticreactor design. In Proceedings of the 28th Benelux Meeting on Systems and Control,March 16-18, 2009, Spa, Belgium (pp. 161-161). Spa: Solcress Seminar Center.

Tazelaar, E., Bruinsma, J., Veenhuizen, P.A. & Bosch, P.P.J. van den (2009). Driving cyclecharacterization and generation, for design and control of fuel cell buses. In ProceedingsEVS24, International Battery, Hybrid and Fuel Cell Electric Vehicle Symposium, 13-16May 2009, Stavanger, Norway (pp. 1-8).

Veenman, J., Koroglu, H. & Scherer, C.W. (2009). Analysis of the controlled NASA HL20atmospheric re-entry vehicle based on dynamic IQCs. In Proceedings AIAA Guidance,Navigation and Control Conference, 10-13 August 2009, Chicago, Illinois (pp. 5637-1/16).New York: AIAA.

Veenman, J., Scherer, C.W. & Koroglu, H. (2009). IQC-based LPV controller synthesis for theNASA HL20 atmospheric re-entry vehicle. In Proceedings AIAA Guidance, Navigationand Control Conference, 10-13 August 2009, Chicago, Illinois (pp. 5636-1/18). New York:AIAA.

Vissers, J.A.W. & Weiland, S. (2009). Model based kinetics estimation for crystallizationprocesses. In Proceedings of the 28th Benelux Meeting on Systems and Control, March16-18, 2009, Spa, Belgium (pp. 98-98). Spa: Solcress Seminar Center.


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Wattamwar, S.K., Weiland, S. & Backx, A.C.P.M. (2009). Identification of low order model forlarge scale systems. In Proceedings of the 28th Benelux Meeting on Systems and Control,March 16-18, 2009, Spa, Belgium (pp. 157-157). Spa: Solcress Seminar Center.

Wattamwar, S.K., Weiland, S. & Backx, A.C.P.M. (2009). Identification of low order models forlarge scale systems. In S. Engell & Y. Arkun (Eds.), Proceedings International Symposiumon Advanced Control of Chemical Processes 2009, ADCHEM 2009, 12-15 July 2009,Istanbul, Turkey (pp. 214-1/6). Oxford: Pergamon.

Wattamwar, S.K., Weiland, S. & Backx, A.C.P.M. (2009). Identification of low order parametervarying models for large scale systems. In Proceedings of the 15th IFAC Symposium onSystem Identification, SYSID 2009, July 6-8, 2009, Saint Malo, France (pp. 1-6). Oxford:Pergamon.

Wattamwar, S.K., Weiland, S. & Backx, A.C.P.M. (2009). Reduced order modeling for glassmanufacturing process. In Proceedings Glass Performance Days (GPD) 2009, June12-15, 2009, Tampere, Finland (pp. 1-7).

Zhang, Xiangping, Zhu, Y. & Bosch, P.P.J. van den (2009). Improve recursive identificationusing multi-iteration. In Proceedings of the 15th IFAC Symposium on System Identification,SYSID 2009, July 6-8, 2009, Saint Malo, France (pp. 444-449). Oxford: Pergamon.

Zhu, Y. & Ji, Guoli (2009). LPV model identification using blended linear models with givenweightings. In Proceedings of the 15th IFAC Symposium on System Identification, SYSID2009, July 6-8, 2009, Saint Malo,France (pp. 1674-1679). Oxford: Pergamon.

M.Sc. theses

Bikcora, C. (2009). Estimation of the disturbances in focus and dose of a lithographic process.Gielen, R.H. (2009). Results on Stabilization of Networked Control Systems: a Flexible Lyapunov

Function Approach.Herpen, R.M.A. van (2009). Experimental Modeling and Validation for robust Motion control of

next generation wafer stages.Ou Yang, R.Y. (2009). Modeling and Control of a System with Magnetic Hysteresis.Schobben, R. (2009). Identification & CFD Model Based Control of a Glass Furnace.Veek, B.J. van der (2009). Seismic Hazard Mitigation of Structures by Semi Active

Magneto-Rheological Mass-Dampers.

Other publications

Jansen, J.W., Rovers, J.M.M., Lierop, C.M.M. van & Lomonova, E. (09-12-2009). Reductionof the force ripple in a permanent magnet linear synchronous motor. no EP 2131484(A1).


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University of TwenteControl Engineering

General Information

AddressUniversity of Twente, Faculty of Electrical Engineering, Mathematics and Computer Science,Department of Electrical Engineering, Control Engineering group, P.O. Box 217, 7500 AEEnschede, The Netherlands. Phone (secretariat): 053 – 489 2606. Fax (secretariat): 053 –489 2223. E–mail (secretary): [email protected], web: http://www.ce.utwente.nl

Scientific staffProf.dr.ir. Job van Amerongen, Dr.ir. Peter Breedveld, dr.ir. Jan Broenink, Dr. RaffaellaCarloni, Prof.dr. Anton Eliens, Dr. Maarten Korsten, dr. Angelika Mader, dr. Sarthak Misra(since 01-08-2009), prof.dr.ir. Paul Regtien (until 31-12-2009), Prof.dr.ir. Stefano Stramigioli,Dr.ir. Theo de Vries

Technical and administrative staffJolanda Boelema-Kaufmann (CE) (since 15-05-2008), Carla Gouw-Banse, ing. Gerben teRiet o/g Scholten, ing. Marcel Schwirtz, Alfred de Vries

PhD studentsMSc Bayan Babakhani, ir. Maarten Bezemer (since 16-01-2009), MSc Windel Bouwman(since 17-08-2009), MSc Yury Brodskiy (since 01-09-2009), MSc Phong Dao, ir. EdwinDertien, MSc Michel Franken, ir. Marcel Groothuis (until 01-06-2009), MSc O uzcan O uz(since 01-10-2009), MSc Gijs van Oort, MSc Bart Peerdeman (since 27-11-2009), MSc RobReilink, MSc Ramazan Unal, ir. Martijn Visser, MSc Ludo Visser, ir. Martin Wassink, MScCagri Yalcin (since 01-09-2009)

Temporary staff and postdocsMSc Giovanni Azzone (since 01-10-2009) (visitor) , Matthijs Bakhuis (since 03-12-2009),Jim Bradley (since 01-07-2009) (until 31-08-2009) (visitor) , dr.ir. Dannis Brouwer (visitor) ,MSc Fanny Ficuciello (since 07-09-2009) (visitor) , Andrea Galletto (since 19-04-2009) (until03-05-2009), ir. Marcel Groothuis (since 01-06-2009), dr.ir. Martin Hoeijmakers, MD PhDMassimo Mariani (visitor) , dr.ir. Aditya Mehendale (until 01-06-2009), PhD Shodhan Rao(since 01-05-2009), dr. Satoru Sakai (since 17-08-2009) (until 28-08-2009) (visitor) , MScHans van der Steen (until 15-08-2009), PhD Hao Sun (since 01-12-2009), PhD Heng Wang(since 01-10-2009)

Cooperation withDLR (DE), ETHZ (CH), University of Bologna (IT), University of Napels (IT), University ofBergamo (IT), Centro Piaggio, Pisa (IT), Superlec (FR), DEMCON (NL), PHILIPS (NL),MEDTRONIC (USA), OSSUR (IS), RDD (NL), Fraunhover IPA (DE), KU Leuven (BE), Kuka(DE), Kiwa Gastech (NL), Van der Lande (NL), ANU (AU), UMCU (NL), UMCR (NL), UMCG(NL), RUNMC (NL), University of Utrecht (NL), TUD (NL), Xivent (NL), Siemens BV (NL)ItalianInstitute of Technology (IT, Imperial College (UK), Alstom Inspection Robotics (CH), RadboudUniversity Nijmegen (NL), TU/e (EE) (NL), Oce research (NL, ASML (NL), University ofNewcastle upon Tyne (UK), Engineering College Aarhus (DK), C.H.e.S.S. EmbeddedTechnology BV (NL), Controllab Products BV (NL), Neopost Technologies BV (NL), VerheartNew Products and Services NV (B), GPS (DE), Bluebotics (DE), HAN (NL), TCNN (NL), FH


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Munster (DE), FH Gelsenkirchen (DE), University of Duisburg-Essen (DE), Leadpartner enNL adviseurs: Euregio (DE/NL), Syntens (NL), STODT (NL)

Keywordscontrol, modelling, simulation, intelligent control, embedded control systems, robotics,measurements, instrumentation, walking robots, haptics, tele manipulation, mechatronics,mechatronic design, micro mechatronics, design tools, port-based modelling, bond graphs,controller agents, distributed control

Brief descriptionThe goal of CE is to develop novel technology and scientific methodologies for the designand development of complete robotic systems and similar automated devices.

This means that the innovation, the scientific contribution and its core expertise lies in themeans to realize robotic systems rather than in the application domains of the systems thatare developed. Clearly, problem solving for a specific domain of application will also requiredomain specific knowledge like the field of medical robotics.

Examples of novel technologies are novel actuators or mechatronics concepts, energyscavenging systems, tools for supporting modeling of multi-physical systems, vision in theloop algorithm for automatic steering of robotics systems etc.

Examples of developments of novel scientific methodologies are novel mathematical methodsfor modeling flexible structures via PDE with variable boundary conditions or novel non linearcontrol methods or methods able to stably cope with time delays inherent in data transmissionor processing.

The core knowledge residing in the group is composed of embedded systems and especiallyissues related to real time constraints (Broenink), analytical and geometrical mechanics(Stramigioli), modeling, non-linear control and differential geometry (Stramigioli, Carloni,Misra), port-based modeling, simulation and design of physical systems and related tools(Breedveld, Stramigioli), medical domain expertise (Misra, Stramigioli), tissue modeling(Misra), distributed control (Carloni), robust autonomy (Breedveld, Broenink), a recent focuson (technical) cognition and perception (Breedveld).

The chair is part of the 3TU Center of Excellence on Intelligent Mechatronic Systems for itsactivities and expertise in the Robotics field. The research of Control Engineering is carriedout in the IMPACT, MIRA and CTIT Institutes. One unique and characterizing feature of thephilosophy with which research is performed is the use of the `port based’ way of thinkinglike bond graphs and port Hamiltonian systems for the modeling and control of multi-domainsystems.

Strong collaborations with the Mechatronic Valley Twente and national industries like Philips,TNO, ESA, OCE, Thales are taking place. The Chair has a leading role in the LEO initiative.LEO Center of Service Robotics is at this stage a cluster of regional enterprises and groupsworking in robotics and will have a physical space to display what robotics is and what canbe used for in our society. The ambition is to become a reference point for robotics in theNetherlands.

Results of research by PhD and MSc students also find their way into tools for mechatronicdesign. Due to the cooperation with our spin-off company Controllab Products these resultsbecome globally available after some time, mostly in the form of extensions of the mechatronicdesign programme 20-sim.


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DISC projects

Medical Robotics

dr. Sarthak MisraProjectleader:Dr.Jorn Op Den Buijs, Dr. Carloni, Dr. Shodhan Rao, Prof.dr.ir. StefanoStramigioli

Participants:

MSc. Bart Peerdeman, Msc. Rob Reilink, Msc.Michel Franken, Msc.Ramazan Unal,

PhD students:

MIRA InstituteSponsored by:

DescriptionIn this program developments are taking place which have directly or indirectly to do withthe human body. The program is composed of two parts.

• Robotic Surgery in which new robotic instruments and methodologies are studied withprojects like Teleflex and Miriam.

• Prosthetics is related to the development or artificial limbs like transradial handprosthesis (MyoPro) and transfemoral leg prosthesis.

Ongoing workSeveral medical robotics projects have been initiated in 2010 - which include MIRIAM,Biomechanical models based on ultrasound elastography for robot-assisted medicalinterventions, robotic needle steering, and medical microrobotics

Inspection Robotics

dr. Raffaella CarloniProjectleader:prof.dr.ir. Stefano StramigioliParticipants:ir. Edwin Dertien, Msc. Abeje Yenehun MershaPhD students:

DescriptionIn this program the use of robotics technologies is investigated for tasks in which inspectionof not easily reachable structures is necessary. This can be the case for underground gasmains like in the project Pirate, high structures or plans like in the flying robot Airobots,continuous monitoring of the dutch dikes like in the project Rose or even modeling forinspection of space rovers in collaboration with ESA for the Exomars. For the latter themodeling of altitude maps and their use in the prediction of the navigation of the ExoMarsrover is considered. Problems which arise in this study relate a combination of sparse altitudedata with precise terramechanics simulations.This is tackled using a hybrid use of differentialgeometric techniques and computational geometric methods.


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Humanoid Robotics

dr. Raffaella CarloniProjectleader:dr. Shodhan Rao, prof.dr.ir. Stefano Stramigioli, Theo de VriesParticipants:Msc. Ramazan Unal, Msc. Ludo Visser, ir. Martijn Wassink, ir. Edwin Dertien,ir. Gijs van Oort, Msc. Tadele Tadele Shiferaw, Msc. Ludo C. Visser, Msc.Rob Relink.

PhD students:

DescriptionThe goal of this project is to build a fully functional humanoid robot in the next decade. Withthis purpose, the group is putting effort in doing research on different parts of humanoids.In particular a humanoid head-neck system, a dexterous robotic hand, an energy efficientknee locking mechanisms and, finally, by continuing on earlier work of the group, extendedknowledge on bipedal walking. The complete humanoid project realizes a reallymultidisciplinary platform, which requires the close collaboration with other Departmentsand Faculties of the University of Twente, in particular with the Mechanical Engineering andIndustrial Design. Moreover, in this context, the group has extended the collaboration networkwith various companies of the Mechatronic Valley Twente and the research groups of theother Technical Universities of The Netherlands.

Ongoing workHumanoid Head:

A humanoid head-neck has been developed.The system realizes a multidisciplinary platforminteresting from mechanical, control and human-machine interaction point of view. Theproject has been done in collaboration with Demcon, a hi-tech mechatronic company situatedin Oldenzaal.The humanoid head has seven degrees of freedom (four in the neck and threein the eyes) and reacts in a human-like way to its environment (e.g. it looks around, usingsaccades, dynamically searching for interesting things to look at). The external design andimplementation of expression by means of light projection from the internal part have takenplace. Together with the UT research group Human Media Interaction, the group is nowworking on improving the behavior, in order to integrate speech recognition and synthesis,audio interaction and human-like emotions.

Recently the project ONE (Orienting in Natural Environments) has been submitted to NWOand is still under review. The project addresses the problem of selecting and orienting toauditory and visual goals in natural environments that contain a myriad of unknown stimuliand background noise, in a task that requires a fast goal-directed response of the eyes andthe head.

Humanoid Walking:

Several MSc and BSc projects have taken place on the implementation of walking theoryto bipedal robots in the context of the "Dutch Robotics" team.This initiative is a collaborationwith TU Delft, TU Eindhoven and Philips, which aims at working closely together in the fieldof dynamic walking and, more specifically, on the soccer bipedal robot TUlip. Some of thenovel developments involve an innovative, energy efficient, knee locking mechanism for thebipedal walker Dribbel and a differential elastic actuation for Tulip.


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Embedded and Control Systems

dr.ir. Jan BroeninkProjectleader:dr Angelika Mader, ir Ditske Kranenburg-de LangeParticipants:ir Maarten Bezemer, Windel Bouwman MSc, Cagri Yalcin MSc, OguzcanOguz MSc, Xiaochen Zhang MSc, Yunyun Ni MSc, ir Marcel Groothuis

PhD students:

DescriptionThis project deals with the realisation of control schemes on digital computers. The ultimategoal is to support the mechatronic / robotic design engineer such that implementing controllersaccording to “do it the first time right” becomes business as usual.

Simulation and formal methods are used as a means for verification at all stages of thedesign process. This facilitates concurrent engineering. Robot Software Architectures aretuned to fit in our design approach, to obtain an effective realization trajectory.

Furthermore, the use of parallel hardware and parallel software is investigated, to exploitthe inherent parallel nature of embedded systems and their control.

Ongoing workDesign tools for embedded system implementation.

Work on TeleFLEX, BRICS, DESTECS, MDDSW projects contribute to the redesign of thereal-time execution library LUNA (formerly known as CTC++), and design tool TERRA (thefollow-up of gCSP) for editing and compiling process-oriented diagrams describing theembedded software. Currently, the basis of LUNA is redesigned and implemented on theQNX real-time operating system.

Modeling and Simulation

dr.ir. Peter BreedveldProjectleader:dr.ir. Peter Breedveld, prof.dr.ir. Stefano Stramigioli, prof.dr.ir. Job vanAmerongen

Participants:

Msc.Yury BrodskiyPhD students:

DescriptionThe central theme of this research is an inter-disciplinary, integrated, port-based approachto the modelling of physical system behaviour in various engineering domains, in particularthose related to robotics and mechatroncis. It follows an energy-based approach, makingextensive use of the (multi-)bond graph notation, and is subdivided in several classes ofprojects.

Where applicable, the modelling activities of the laboratory are used as a basis to generatere-usable, generic (sub-) model structures of various engineering systems.

Ongoing work-modeling and simulation of mechatronic systems (controlled mechanism) and robots(autonomous mechanisms)

-model-based fault detection and robust autonomy (BRICS project)

-modelling and simulation of bouncing and/or switching objects

-generalization of the developed approach to arbitrary spatial objects


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-modelling of rotating electric machines

-modeling and simulation of a high pressure reciprocating positive displacement pump

Advanced Robotic Methodologies

prof.dr.ir. Stefano StramigioliProjectleader:dr. Raffaella Carloni, dr. Sarthak Misra, dr. Shodhan Rao, dr. Heng WangParticipants:Msc. Ludo Visser, Msc. Michel Franken, ir. Gijs van OortPhD students:

DescriptionIn this program more conceptual problems in robotics are tackled like complex rigid or flexiblemulti-body modeling using screw theory or Lie groups. One unique and characterizing featureof the philosophy with which research is performed is the use of the `port based’ way ofthinking like bond graphs and port Hamiltonian systems for the modeling and control ofmulti-domain systems. This has brought to new results in the passive interconnection ofsystems separated by time delayed communication channels and the passive interactionwith unknown environments which is clearly fundamental for safety in robotic interaction.

Another topic is haptic interaction in which haptic feedback is an important source ofinformation for human beings when interacting with objects. However in the applications weconsider the object with which the user is interacting can be remote or even virtual. In suchapplications the user is interacting with the object through a device and this device can beused to present the user with the appropriate haptic feedback (only force feedback isconsidered). In this research project we are looking into new methods of implementing suchhaptic feedback/bilateral controllers in a stable manner. Two well known sources of stabilityproblems are the discrete nature of virtual environments and possible time delays in thecommunication channel of a telemanipulation system. Both of these problems can be formuledin terms of physical energy exchange. When more energy can be drawn by an interactionwith an object than was injected, that interaction can become unstable. For impedance typedisplays (measured position/velocity, force output causality) the physical energy exchangecan be exactly computed. For virtual environments our work focuses on computing theinteraction responses based on an energy distribution framework, which maintains a properenergy balance with respect to the modelled physical object. For bilateral telemanipulationsystems we have derived a two-layered framework in which any bilateral controller with thecorrect causality can be implemented in an energy neutral manner.

BRICS

dr.ir. Peter BreedveldProjectleader:dr.ir. Jan Broenink, prof.dr.ir. Stefano StramigioliParticipants:MSc.Yury Brodskiy, MSc. Cagri Yalcin.PhD students:EU-FP7Sponsored by:

DescriptionEven after 50 years of robotics development and research the process of developing a newrobot and its applications has more similarities with ingenious engineering or designing apiece of artwork than with a structured and well-defined process.This holds particularly truefor advanced service robot systems. The prime objective of BRICS is to structure andformalize the robot development process itself and to provide development tools,


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computational models, and functional libraries, which allow engineers and developers ofcomplex robotic systems to reduce the development time and effort by an order of magnitude.

BRICS will work together with academic and industrial providers of robotic components –both hardware and software – to identify and document best practices in the developmentof complex robotics systems, to refactor existing components in order to achieve a muchhigher level of reusability and robustness, and to support the robot development processwith a well-structured tool chain and a repository of reusable, configurable code.

BRICS is a joint research project funded by the European Commission ICT Challenge 2under grant number 231940.

Ongoing workThe major UT responsibility is Dependability in Robust Autonomous Robotic Software andfocuses on software architectures and algorithms to support robustness and fail-safe operationfor autonomous mobile robots. Robotic software layering approaches from behavioral (AI)approaches are studied.

VIACTORS

dr. Raffaella CarloniProjectleader:dr. Peter Breedveld, dr. Shodhan Rao, prof.dr.ir. Stefano StramigioliParticipants:MSc Ludo Visser, ir. Gijs van OortPhD students:EU-FP7Sponsored by:

DescriptionThe European Project VIACTORS has been financed in the Seventh Framework ProgrammeFP7-ICT-2007-3 in the call ICT-3-8.5 on Embodied Intelligence. The consortium is formedby: Deutsches Zenstrum für Luft und Raumfahrt (Coordinator), University of Pisa, Universityof Twente (Scientific Co-Coordinator), Imperial College London, Italian Institute ofTechnology), Vrije Universiteit Brussel.

The project focuses on the development and exploitation of actuation technologies for anew generation of robots that can co-exist and co-operate with people and get much closerto the human manipulation and locomotion performance than today’s robots do.This meansthat the aim is to design systems that embody the physical principles, which shape thedesired robot behaviour as much as possible and thus reducing the required control effort.It is expected that in this way the system will be intrinsically energy efficient, safe, and robustagainst external perturbations. The idea is to achieve this embodiment of behaviour bymeans of variable impedance actuation, i.e. changing the apparent interface impedance ofan actuator and thus change the system behaviour.

The work of the project is approached on three levels:

Analysis of the physical and biological principles, which will constitute the bases of designand control of variable impedance actuators.

Design of new robot actuators in which much of the motion intelligence is embodied in themorphology of the structure. This will also result in conceptual new paradigms for control totune compliance, enforce safety and strongly improve energy efficiency.

Evaluation in three distinct application aspects, namely robotic manipulation, bipedallocomotion, and rehabilitation robots.


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The focus for the UT is in the application of these kinds of actuator systems in the field of(bipedal) locomotion.The goal is to design locomotion systems that come closer to biologicalsystems in terms of energy efficiency, robustness and adaptability.

The main objectives are to analyze, simulate and develop legged locomotion systems basedon the principles of variable impedance actuation. These systems should be robust undersubstantial disturbances and at the same time efficient in terms of energy consumption.Thework will be based on biologically inspired mechanisms, as nature provides ample examplesof robust, energy efficient walking mechanisms.

The work is organized into the following phases:

Morphological analysis of walking systems: given any morphology, which walking patternscan be realized. Given a feasible walking pattern, what are the requirements for the actuatorsand what can be said about the influence of disturbances on this particular pattern?

Implementation on humanoid robots: how can we apply the newly developed actuationtechniques to existing robots to improve their performance?

Modelling and simulation of walking: learn more about the physical coupling and energyexchange between the various components of locomotion systems.

New prototype: design new walking systems that optimally incorporate the new actuationtechniques.

Several students are, or have been, involved in VIACTORS: two PhD students (Gijs vanOort and Ludo C.Visser), two MSc students (Luciana Cicchitti and Matin Jafarian), two BScstudents (Feite Klijnstra and Bart Reefman).

This project aims at developing and exploiting actuation technologies for a new generationof robots that can co-exist and co-operate with people and get much closer to the humanmanipulation and locomotion performance than today’s robots do. At the same time theserobots are expected to be safe, in the sense that interacting with them should not constitutea higher injury risk to humans than the interaction with another cautious human.This requiresthat robots with similar size and mass as the humans also have comparable power, strength,velocity and interaction compliance.

This ambitious goal can, however, not be achieved with the existing robot technology, inwhich the robots are designed primarily as rigid position or torque sources and mostinteraction skills are imposed by virtue of control software. Also, conventional robots in whichinteraction is controlled by software only, could not avoid an impact to damage the robotand possibly the human neighbor, as the controller will react with some delay. This projectwill develop both a solid theoretical understanding and the enabling technologies for thedesign of a new generation of robot actuator systems, capable of embodying the physicalprinciples which shape the robot behavior.

The focus of the work will be on achieving different abilities, in particular:

Efficiency (e.g. natural gait generation and adaptation in legged locomotion applications);

Robustness to external perturbations and unpredictable model errors (changes) of theenvironment, of the robot kinematics and dynamics, or of the dynamics of a human interactingwith;

Adaptability and force accuracy in the interaction with the operator, in applications in whichcontinuous contact and accurate force exchange is necessary, such as in “hands-on” assistivedevices, rehabilitation, exoskeletons and haptics;


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Safety to humans (and resilience to self-damage) in operations where the robot is requiredpositional accuracy and swiftness of motion, while cooperating, physically interacting oreven possibly colliding with the humans and their environment, such as e.g. in collaborativerobotics.

To tackle this goal, this project uses the concept of Variable Impedance Actuation. The keyinnovation of the project is the development, exploitation and integration of VariableImpedance Actuator Systems both in manipulation, locomotion and rehabilitation.

For developing these new kinds of actuator systems, it is critical to understand in depth themechanisms by which the efficiency, motion performance, and safety are obtained in biologicalsystems and in particular by humans.

Taking the state of the art in artificial muscles into account, our major goal is not bio-mimesisper se, but rather to develop actuation systems with similar functional properties as theneuro-mechanical system in humans. In other terms, a part of the necessary intelligencehas to be embedded (embodied) in the systems themselves, which should be able to passively(or almost passively) be safe, efficient, compliant, etc.

This idea will be approached on three levels within the project:

The first objective is to work out the physical and biological principles which will constitutethe bases of the mentioned shift of paradigm in embodiment, design and control.

The gained knowledge will be then used to design new robot actuators following theseprinciples. The approach should result in a very innovative kind of robots, in which much ofthe motion intelligence is embodied in the morphology of the structure. This will also resultin conceptual new paradigms for control to tune compliance, enforce safety and stronglyimprove energy efficiency.

The fundamentals elaborated as described above, will be applied and evaluated tothreedistinct application aspects, namely robotic manipulation, bipedal locomotion, andrehabilitation robots.

Several partner labs already have first prototypes of variable impedance actuated systemsavailable or under development within predecessor projects which will be used as earlyevaluation platforms for thementioned application areas. Of particular relevance here is theFP6 PHRIENDS project (www.phriends.eu), which is widely recognized as a worldwidepioneer of the variable stiffness actuation approach to safe and dependable robotics, andwhose legacy of highly innovative results will be inherited and capitalized upon by VIACTOR

AIROBOT

Dr. Raffaella CarloniProjectleader:prof.dr.ir. Stefano StramigioliParticipants:MSc. Abeje Yenehun MershaPhD students:EU-FP7Sponsored by:

DescriptionThe goal of the AIRobots project is to develop a new generation of aerial service robotscapable to support human beings in all those activities, which require the ability to interactactively and safely with environments not constrained on ground but, indeed, freely in air.The step forward with respect to the classical field of aerial robotics is to realize aerial vehiclesable to accomplish a large variety of applications, such as inspection of buildings and largeinfrastructures, sample picking, aerial remote manipulation, etc.


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The starting point is an aerial platform whose aero-mechanical configuration allows thevehicle to interact with the environment in a non-destructive way and to hover close tooperating points. Rotary-wing aerial vehicles with shrouded propellers represent the basicairframes, which will be then equipped with appropriate robotic end-effectors and sensorsin order to transform the aerial platform into an aerial service robot, a system able to fly andto achieve robotic tasks.

Advanced automatic control algorithms will be conceived to govern the aerial platform, whichwill be remotely supervised by the operator with the use of haptic devices. Particular emphasiswill be given to develop advanced human-in-the-loop and autonomous navigation controlstrategies relying upon a cooperative and adaptive interaction between the on-board automaticcontrol and the remote operator. Force and visual feedback strategies will be investigatedin order to transform the aerial platform in a “flying hand” suitable for aerial manipulation.

The consortium is composed by four academic groups (University of Bologna-Italy, ETHZurich-Switzerland, University of Naples Federico II-Italy, and University of Twente- TheNetherlands) and an industry, ALSTOM Inspection Robotics, which ha the role of end-userand evaluator of the project outcomes for the specific application of robotic inspection ofpower plants.

Prototypes of aerial service robots will be developed within AIRobots and tested onexperimental setups, which will be constructed in order to reproduce typical industrialscenarios, envisaged by ALSTOM Inspection Robotics, in which aerial inspection roboticcan be beneficial. The prototypes will be specifically tested on tasks such as docking andundocking from structures, cleaning, inspection and repairing of infrastructures, payloadlifting, and others operations requiring safe interaction between the aerial platform and theenvironment.

Advanced automatic control algorithms will be conceived to govern the aerial platform whichwill be remotely supervised by the operator with the use of haptic devices. Particular emphasiswill be given to develop advanced human-in-the-loop and autonomous navigation controlstrategies relying upon a cooperative and adaptive interaction between the on-board automaticcontrol and the remote operator. Force and visual feedback strategies will be investigatedin order to transform the aerial platform in a "flying hand" suitable for aerial manipulation.

DESTECT

dr.ir. Jan BroeninkProjectleader:ir.Marcel GroothuisParticipants:MSc Xiaochen Zhang, MSc Yunyun NiPhD students:EU-FP7Sponsored by:

DescriptionThis work is part of the EU funded STREP project, coordinated by the UT, in which ECSdesign methods are developed using co-simulation between 20-SIM and VDM++ models.UT’s focus is on model management, co-simulation theory and design space explorationapproaches.

Ongoing workMethods of co-simulation are being investigated. Together with questioning of the industrialpartners on the needs of co-simulation and model management to support embedded controlsoftwar design, requirements and specifications of both the methodology and tools are beingset up.


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TELEFLEX

prof.dr.ir. Stefano StramigioliProjectleader:dr. Sarthak Misra, dr.ir. Jan BroeninkParticipants:Msc. Rob Reilink, ir. Maarten BezemerPhD students:PIDONSponsored by:

DescriptionNatural orifice transluminal endoscopic surgery (NOTES) is a new form of minimally invasivesurgery (MIS).The main difference between NOTES and traditional MIS is that the operatingscene is entered through one of the natural openings of the human body. In April 2007 thefirst true NOTES operation was presented at the Japanese Congress of Surgery in Osaka.The operation consisted of the removal of the gall bladder (cholecystectomy) in a 30-year-oldwoman and was carried out transvaginal.

NOTES is expected to have several benefits over traditional MIS.The most important benefitwould be that even less damage is inflicted on the patient during the operation. This meansthat he suffers less from postoperative pain and will return to his daily life at an earlier stage.Also MIS operations can be performed on patients who suffer from severe obesity (whichis problematic for traditional MIS), or from inflictions to the abdomen.

The approach to surgery using NOTES techniques greatly differs from current laparoscopictechniques. For a successful introduction of NOTES in the OR, robotic tele-manipulationwill be a key ingredient. The tele-manipulation device will have to empower the surgeon tocarry out various kinds of common diagnostic and therapeutic procedures in a time efficientand cost effective manner.

The TeleFlex project consisting of four PhD positions, of which two at the CE group, hasstarted in the past year in this upcoming research field. The focus of the TeleFlex project isdirected at the master device of the tele-manipulation chain. R. Reilink, MSc. will do researchon the effects haptic feedback has on a sentient surgeon and under which conditions thisfeedback will benefit the surgeon. M. Bezemer, MSc will focus on the software structure andhow layered software should be designed to guarantee safety.

Ongoing workDistributed Controller architectures for mechatronic systems is being investigated: and dealswith design and validation of distributed controller architectures. Focus is on safe roboticsoftware architectures. Our base execution library is being redesigned to comply withrequirements from medical robotics

New mechanism and vision algorithms are also investigated which support the surgeonduring operation


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BOBBIE

prof.dr.ir. Stefano StramigioliProjectleader:dr. Theo de vriesParticipants:MSc Tadele Tadele ShiferawPhD students:Point OneSponsored by:

DescriptionThe aging population will be putting increasingly great pressure on the health care system.The continuing trend of aging will clearly increase the difficulty to provide care to acceptablestandards.

The type of elderly care most needed yet least provided by overloaded care professionalsis (non-critical) assistance in daily living: fetching objects, opening/closing doors and drawers,operating switches, etcetera.

Thanks to recent advances in robotics and mechatronics, computing, vision and software,it is now starting to become possible to create robotic versions of so-called care dogs. Inthe Netherlands, all key technologies for these personal robots are available, but they havenot been brought together in an economically viable industry. The key problem is that thisis an industry that needs to be bootstrapped: it requires convincing operational prototypesfor affordable costs and a convincing user application study.

This project will result in new methods to design a robot system, using standardizedarchitectures, which can safely work in a care situation. As a proof of these methods, aspecific realization in the form of a safely working prototype will be shown as an end result.

This type of personal robots are expected to become a market with a similar influence asthe personal computer market. Comparing the two markets, we are now in the era beforethe design of the IBM standard PC architecture.There are very few personal robotic systemson the market, they are expensive, and components are not interchangeable. Identical tohow the IBM architecture revolutionized the PC market, the creation of design standards forpersonal robots will open up the great potential of the personal robotics market, and theDutch Industry can play a key role.

PIRATE

prof.dr.ir. Stefano StramigioliProjectleader:dr. Raffaella CarloniParticipants:ir. Edwin DertienPhD students:Kiva GastechSponsored by:

DescriptionIn 2007 a mobile inspection system for live gas mains has been developed. This project isa joint effort of Continuon Netbeheer, Kiwa Gastec Technology B.V. and the University ofTwente. The prototype hardware has been developed at DEMCON. The robot is developedfor autonomous internal inspection of the low pressure gas mains, with minimal interventionof human operators. The robot will be used to detect leaks or possible weak points in thegas mains.

In the first stage of this project, the development of a moving mobile robot base has beenemphasized. The low pressure net in the Netherlands uses pipes with an inner diameter assmall as 50 mm, thus putting a severe limitation on the robot's size. A mechanical prototype


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has been developed which is capable of moving through pipes ranging in diameter from 50to 120 mm. It can move through mitered bends and T-joints and take inclinations of 30degrees. The robot has the form of a 'snake', consisting of seven wheeled modules whichall have a designated function. Two modules are used for propulsion, two for bending therobot's shape (for navigation trough bends), one module in the center for rotation the robotaround its axis, one module for power storage and one module for control and sensorelectronics. The mechanical setup has been tested in a structured lab environment. Thenext step will be to test the functionality in a more realistic environment.

On a different level work has been done on the design of a camera setup with structuredlight bundle (laser projecting circles) which can be used as sensor to measure pipedeformation, and which also can be used to detect obstacles and bends which is necessaryfor navigation. In following projects we hope to miniaturize this setup in order to integrate itinto the robot's design.

Ongoing workRecently a proposal for continuing the project PIRATE has been submitted at STW and isstill under review.

ViewConnect

dr.ir. Jan BroeninkProjectleader:prof.dr.ir. Job van AmerongenParticipants:ir. M.A. GroothuisPhD students:STWSponsored by:

DescriptionThis STW-PROGRESS funded project, together with the ICS/ES EE group at TU/e, dealswith setting up methods and prototype tools for a multiple-view approach in mechatronicsystem design, using co-simulation as vehicle, with focus on embedded software. It dealswith views (editors), core models, and correctness-preserving code generation.

Ongoing workThe Production Cell experimental setup was controlled by 6 different implementations ofthe control algorithms, using either a PC or an FPGA to run the control algorithms. Tradeoffs between design work, performance and use of processors were studied. The CPA2009paper on comparing these different implementations obtained a best student paper award..

Rose

prof.dr.ir. Stefano StramigioliProjectleader:dr. Raffaella CarloniParticipants:STWSponsored by:

DescriptionSensor networks are one of the most important technologies in the 21st century; in particular,with recent advances in sensor-equipped autonomous mobile robots, mobile robotic sensornetworks are becoming one of the most strategically important technologies worldwide andhave great potential to be applied to infrastructure security, environment and habitatmonitoring, industrial sensing, traffic control and so on. One of the greatest challenges inthe application of mobile robotic sensor networks is that the performance of such a networkis constrained by the limited available energy supply usually provided by the batteries carried


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by each robotic sensor. It is therefore important to consider energy scavenging techniquesin the design of the systems. The aim of ROSE is to develop new energy-efficient designmethod- ologies and novel control strategies for robotic sensor networks. The key is to takea multidisciplinary and integrative approach by jointly considering the hardware level ofmobile sensor-equipped robotic devices and the system level of wireless coordination ofgroups of mobile robotic sensors. For the design of mobile sensor-integrated robotic devices,research will focus on taking full advantage of newly developed sensors, methodology toharvest and optimize energy sources and integrate such sensors with mobile robotic platforms.With optimal energy consumption and a proper system design, the platforms to be developedwill be able to operate in complex, time-varying, unknown, harsh and hazardous environmentand acquire data reliably via ground penetration radars (GPR), ultrasound imagers, magneticfield detectors and other sensors. Parallel to the development of each individualenergy-conscious robotic sensor, a system level assault on the energy efficient control ofsensor networks will also be carried out. To be more precise, wireless communicationprotocols and distributed coordination algorithms will be developed specifically for swarmsof robotic sensors using ideas from passive systems and port-Hamiltonian systems theory.The proposed research work will make direct contribution to the IJkdijk project for which therobotic sensors and the envisioned network protocols and algorithms can be used to monitorthe dikes. Dike monitoring is an example of a broad range of potential applications of roboticsensor networks for which our proposed research will have fundamental and practicalimplications to energy-efficiency and robustness, under limitations imposed by theinformational structures, physical embodiment, the external world, and their interactions.

Within this project one of the Ph.D. students will be employed at the Control Laboratory.This Ph.D. student will be responsible for the mechatronic development of the robot includingenergy harvesting, local control and mechatronic design. The other Ph.D. student who willbe employed at the RuG will be mostly involved in the distributed control issues. The teamwill closely work together and have regular meetings.

ReflexLeg

prof.dr.ir. Stefano StramigioliProjectleader:dr. Raffaella CarloniParticipants:MSc Ramazan UnalPhD students:STWSponsored by:

DescriptionIn this project a novel conceptual design for a transfemoral prosthesis has been proposedand a prototype (scale 1:2) have been realized.

The design is inspired by the power flow in human gait in order to have an energy efficientdevice. The working principle of the conceptual mechanism is based on three storageelements, which are responsible of the energetic coupling between the knee and the anklejoints. Design parameters of the prosthesis have been determined according to the energyabsorption intervals of the human gait.

This project is carried out in collaboration with the group of Prof. Velting and the RoessingR&D center.


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MyoPro

dr. Sarthak MisraProjectleader:prof.dr.ir. Stefano StramigioliParticipants:MSc Bart PeerdemanPhD students:PIDONSponsored by:

DescriptionCurrent myoelectric hand prostheses feature two separate degrees of freedom: openingand closing of the claw-like hand, and rotation of the wrist. These are controlled by a singlepair of electrodes on the user's stump, which pick up the activation of residual muscles underthe skin. Though they are potentially very useful, these prostheses often go unused by theirowners, who cite reasons such as awkward control, lack of feedback, difficult training, etc.The goal of this research project (Project: MyoPro) is the creation of a new myoelectrictransradial (hand) prosthesis which can avoid these pitfalls. The research involved in itsdevelopment can be divided into the following parts: Electromyographic sensing, mechanicaland control system design, and sensory feedback. Further details regarding this project areavailable at the project group webpage (hyperlink: http://www.myopro.nl)

The focal points of our group's research is in the mechanical design of the prosthesis andthe development of its control system. The mechanical design of the hand is focused onusing underactuation and other design methods to reduce the number of required actuatorswhile still maintaining the ability to perform several essential grasps. The control systemneeds to interpret the user's myoelectric signals in an intuitive manner, and quickly convertthese signals into natural-looking hand movement. Finding the right balance between usercontrol and automatic prosthesis control is essential to accomplishing this.

FALCON

dr. Raffaella CarloniProjectleader:prof.dr.ir. Stefano StramigioliParticipants:ir. Martin WassinkPhD students:ESI, BesikSponsored by:

DescriptionThis project, in collaboration with Embedded System Institute (ESI) and Van der LandeIndustries, is concerned with in the realization of a robotic system for the manipulation andcomposition of orders in a distribution center. The research within the project focuses onthe development of a variable impedance dexterous hand, which should be able to robustlyand dexterously grasp object both via power grasps and with tips grasps.


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Model-based Design of SW intensive embedded systems

dr.ir. Jan BroeninkProjectleader:dr. Angelica MaderParticipants:MSc O uzcan O uzPhD students:CTIT InstituteSponsored by:

DescriptionThis CTIT-funded project focuses on bringing together existing modeling methods form theformal methods domain and the robotics domain, using the small-sized R2-G2P mobilerobots as test bed. It is performed together with the FMT and SE groups of CS.

Ongoing workCurrently, dynamic models and controllers are made using 20-SIM and UPPAAL, and testedin simulation, before implementation on the real R2-G2P robot will be done.

Mechatronics for SME

dr.ir. Jan BroeninkProjectleader:prof.dr.ir. Job van AmerongenParticipants:MSc Windel BouwmanPhD students:EU-InterregSponsored by:

DescriptionTo let SMEs in the Euregio better use mechatronics in their activities. Together withconsultancy and technology transfer firms (Syntens and STODT in our area), results of ourmechatronics work is brought to the SMEs in the region. The research part is focusing ontuning design methods for mechatronics and embedded control software for use in smallprojects, as mostly are the case in SME.

Ongoing workCombining existing design methods from the mechatronics and software development areas,with the experience gained in supporting SME’s, first ideas of the method are beingformulated.

RoboNED

prof.dr.ir. Stefano StramigioliProjectleader:dr.ir. Jan Broenink, ir D.J.B.A. Kranenburg-de LangeParticipants:ICT REgieSponsored by:

DescriptionThe robotics ICT Innovation Platform, sponsored by ICT Regie, to embody the Dutch RoboticsEcosystem, by bringing together the people / stakeholders relevant for this field: designers,producers, users, decision makers. prof. Stefano Stramigioli is chair of RoboNED.

Ongoing workFirst version of clustering of stakeholders around the robotics subtopics and a initial set upof the road map are being made


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Publications

Books

Stramigioli, S., Duindam, V.,, “Modeling and Control for Efficient Bipedal Walking Robots: APort-Based Approach” Springer Tracks in Advanced Robotics, Springer Verlag, London,p. 230, 2009

“Modeling and Control of Complex Physical Systems” , edited by Bruyninckx, H., Stramigioli,S., Macchelli, A., Duindam, V., Springer Verlag, Berlin Heilderberg, p. 423, 2009

Book chapters/parts

Breedveld, P.C.,, “Chapter 1: Port-Based Modeling of Dynamic Systems” in: Modeling andControl of Complex Physical Systems - The Port-Hamiltonian Approach, edited byStramigioli, S., Macchelli, A., Duindam, V., Bruyninckx, H., Springer Verlag, Berlin, pp.1-52, 2009

Tayakout, M., Stramigioli, S., Schlacher, K., Ortega, R., Maschke, B.M., Le Gorrec, Y., Duindam,V., Fossas, E., JAllut, C., Lefevre, L., Doria-Cerezo, A., Couenne, F., Batlle, C.,,“Port-Based Modeling in Different Domains” in: Modeling and Control of Complex PhysicalSystems, Springer Verlag, London, pp. 131-209, 2009


Macchelli, A., Melchiorri, C., Stramigioli, S.,, “Port-Based Modeling and Simulation of MechanicalSystems With Rigid and Flexible Links” Robotics, IEEE Transactions on, IEEE ROBOTICSAND AUTOMATION SOCIETY, vol. 25, nr. 5, pp. 1016-1029, 2009

Okamura, A.M., Ramesh, K.T., Macura, K.J., Misra, S.,, “The importance of organ geometryand boundary constraints for planning of medical interventions ” Medical Engineering &Physics, Elsevier, Amsterdam, vol. 31, nr. 2, pp. 195-206, 2009


Broenink, J.F., Groothuis, M.A., Bezemer, M.M.,, “Analysing gCSP Models Using Runtime andModel Analysis Algorithms” Communicating Process Architectures 2009, Eindhoven,edited by Vinter, B., Stiles, G.S., Sampson, A.T., Ritson, C.G., Barnes, F.R.M., Broenink,J.F., Roebbers, H.W., Welch, P.H., pp. 67-88, 2009

Broenink, J.F., Groothuis, M.A.,, “HW/SW Design Space Exploration on the Production CellSetup” Communication Process Architectures 2009, Eindhoven, The Netherlands, editedby Barnes, F.R.M., Broenink, J.F., Roebbers, H., Welch, P.H., pp. 387-402, 2009

Broenink, J.F., Voeten, J.P.M., Frijns, R.M.W., Groothuis, M.A.,, “Concurrent Design ofEmbedded Control Software” Proceedings of the 3rd International Workshop onMulti-Paradigm Modeling (MPM2009), Denver, United States, edited by Hardebolle, C.,Karsai, G., Lengyel, L., Levendovszky, T., Taentzer, G., Padberg, J., Margaria, T., pp.10, 2009

Brouwer, D.M., Bennik, J., Leideman, J., Soemers, H.M.J.R., Stramigioli, S., “Mechatronicdesign of a fast and long range 4 degrees of freedom humanoid neck” IEEE InternationalConference on Robotics and Automation, 2009. ICRA 2009, Kobe, Japan, pp. 574-579,2009

Franken, M.C.J., Stramigioli, S., Reilink, R., Secchi, C., Macchelli, A.,, “Bridging the gap betweenpassivity and transparency” Robotics: Science and Systems V, Seattle, USA, pp. 36,2009


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Franken, M.C.J., Stramigioli, S.,, “Internal dissipation in passive haptic feedback systems”Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots andSystems, St. Louis, USA, pp. 1755-1760, 2009

Okamura, A.M., Ramesh, K.T., Reed, K.B., Misra, S.,, “Observations of needle-tissueinteractions” Proceedings of the 31th Annual International Conference of the IEEE EMBS,Minneapolis, USA, pp. 262-265, 2009

Okamura, A.M., Ramesh, K.T., Schafer, B.W., Reed, K.B., Misra, S.,, “Observations and modelsfor needle-tissue interactions” Proceedings of the 2009 IEEE international conferenceon Robotics and Automation, Kobe, Japan, pp. 2687-2692, 2009

Ramesh, K.T., Harders, M., Okamura, A.M., Fuernstahl, P., Misra, S.,, “Quantifying perceptionof nonlinear elastic tissue models using multidimensional scaling” World Haptics 2009 -Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for VirtualEnvironment and Teleoperator Systems, Salt Lake City, USA, pp. 570-575, 2009

Reilink, R., Visser, L.C., Bennik, J., Carloni, R., Brouwer, D.M., Stramigioli, S.,, “The Twentehumanoid head” IEEE International Conference on Robotics and Automation, ICRA 2009,Kobe, Japan, pp. 1593-1594, 2009

Stramigioli, S., Carloni, R., Gerelli, O.,, “Port-based modeling and optimal control for a newvery versatile energy efficient actuator” Proceedings of the 9th International Symposiumon Robot Control, Gifu, Japan, p. 6, 2009

Stramigioli, S., Carloni, R., Visser, L.C.,, “Motion control of the Twente humanoid head”Proceedings of the 28th Benelux Meeting on Systems and Control, Spa, Belgium, pp.62, ISBN not assigned, 2009

Stramigioli, S., Carloni, R., Visser, L.C.,, “Vision based motion control for a humanoid head”Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems,2009, Saint Louis, Missouri, USA, pp. 5469-5474, 2009

Visser, L.C., Carloni, R., Stramigioli, S.,, “Design and control of the Twente humanoid head”Proceedings of the 2nd Workshop on Human Friendly Robotics, Sestri Levante, Italy,pp. paper 6, ISBN not assigned, 2009

Wassink, M. and Carloni, R. and Poulakis, P. and Stramigioli, S., “Digital Elevation MapReconstruction for Port-based Dynamic Simulation of Contacts on Irregular Surfaces”The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St.Louis, USA, pp. 5179-5184, 2009

Wassink, M., Carloni, R., Brouwer, D., Stramigioli, S., “Novel Dexterous Robotic Finger Conceptwith Controlled Stiffness” Proceedings of the 28th Benelux Meeting on Systems andControl, Spa, Belgium, pp. 115, ISBN not assigned, 2009

Welch, P.H., Roebbers, H.W., Broenink, J.F., Barnes, F.R.M., Ritson, C.G., Sampson, A.T.,Stiles, G.S., Vinter, B.,, “Preface” Communicating Process Architectures 2009 -WoTUG-32, Eindhoven, edited by Welch, P.H., Roebbers, H.W., Broenink, J.F., Barnes,F.R.M., Ritson, C.G., Sampson, A.T., Stiles, G.S., Vinter, B., p. x+10, 2009

M.Sc. theses

Bouwman, W.M.; Bipedal locomotion for the TUlip humanoid soccer robot, MSc-Report008CE2009, Control Laboratory, University of Twente, June 2009

Broersen, J.J.; Towards a detection and recognition system for freshwater fish, MSc-Report013CE2009, Control Laboratory, University of Twente, August 2009

Colenbrander, R.R.; On FPGAs with embedded processor cores for application in robotics,MSc-Report 015CE2009, Control Laboratory, University of Twente, August 2009

Drost, E.H.; Measurement system for pipe profiling, MSc-Report 003CE2009, Control Laboratory,University of Twente, March 2009


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Gutiérrez Perez, V.; Feasibility study of implementing a new algorithm to measure the frequencyin a universal power measuring device, MSc-Report 002CE2009, Control Laboratory,University of Twente, January 2009

Heiden, K.C. van der; Environmental awareness software for JaClean, MSc-Report 022CE2009,Control Laboratory, University of Twente, December 2009

Janssen, O.H.M.; A finite difference time domain model of an eddy current based measurementsystem, MSc-Report 014CE2009, Control Laboratory, University of Twente, August 2009

Peerdeman, B.; Building a world model for the TUlip humanoid soccer robot, MSc-Report007CE2009, Control Laboratory, University of Twente, June 2009

Rezola Exteberria, I.; Learning Multi-Agent Control with OROCOS, MSc-Report 001CE2009,Control Laboratory, University of Twente, January 2009

Sassen, T.B.A.; Floating-point based control of the Production Cell using an FPGA withHandel-C, MSc-Report 009CE2009, Control Laboratory, University of Twente, June 2009

Veldhuijzen, B.; Redesign of the CSP execution engine, MSc-Report 036CE2008, ControlLaboratory, University of Twente, February 2009


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University of Twente – Faculty of Electrical Engineering,Mathematics and Computer ScienceDepartment of Applied MathematicsSystems, Signals and Control Group

General Information

AddressUniversity of Twente, Department of Applied Mathematics, Systems, Signals and ControlGroup, P.O. Box 217, 7500 AE Enschede, The Netherlands. Phone (secretary):+31–53–4893370/3433. Fax (secretary): +31–53–4893800. E-mail (secretary):[email protected] en [email protected]

Scientific staffprof.dr. A. Bagchi, dr. M.C. Boldy, dr. J. Krystul, dr. G. Meinsma, dr. J.W. Polderman, prof.dr.A.A. Stoorvogel, dr. M. Vajta, dr. H.J. Zwart

Technical and administrative staffmrs. M. Langkamp (secretary chairs MSCT & SST), mrs. J.M. Mulder (secretary FinancialEngineering Laboratory)

PhD studentsE. Aoki MSc., ir. N. Besseling, O.E. Göttsche MSc, ir. P.T. Kordy, S. Polenkova MSc, . W.A.Pradana MSc, R. Prihatin MSc, H.S. Shekhawat MSc.

Temporary staff and postdocsdr.ir.Y. Boers (Casimir), E.S.N. Imreizeeq MSc.

Keywordssystems theory, robust control, nonlinear control, hybrid systems, infinite dimensional systems,behavioral systems theory, filtering, stochastic systems, modelling, signal processing,decentralized control, financial engineering.

Brief descriptionThe research in the Systems, Signals and Control group of the Department of AppliedMathematics, University of Twente, is primarily devoted to the fundamental and mathematicalaspects of systems, signals and control.

The scientific discipline of systems and control deals with the study of the dynamical behaviorof systems in interaction with their environment (open dynamical systems), as they arise inengineering and natural sciences, computer science, finance and economics. It is aninherently interdisciplinary research area with roots in electrical and mechanical engineering,as well as in applied mathematics.

Distinguishing feature of systems and control theory is that apart from describing opendynamical systems, it is also concerned with prescribing dynamical behavior, by the(feedback) coupling of the system with additional system components (analog or digital).Thus systems and control theory deals with the mathematical modeling and analysis ofcomplex dynamical systems composed of interacting subsystems, as well as with theircontrol and synthesis.

University of Twente – Faculty of Electrical Engineering, Mathematics and Computer ScienceDepartment of Applied MathematicsSystems, Signals and Control Group

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Various mathematical formalisms are employed, suited to the particular class of systems athand. Geometric, coordinate free formulations are emphasised. Stochastic modeling andparameter identification, often based on data, plays an indispensable role in many applicationareas of engineering and finance. The design of control strategies is related to optimisationand decision theory.

The mission of the group is to perform fundamental mathematical research stimulated bymultidisciplinary collaboration with colleagues from engineering, computer science, andmanagement studies.This is pursued within a context of local and international collaborationin writing articles, setting up European networks, organising conferences, and initiatingmultidisciplinary research projects and seminars. Also, there is a longstanding collaborationwith the national research institutes NLR and MARIN.

The research of the group covers a large spectrum of mathematical systems and controltheory, leading to a wide mathematical scope with strong conceptual cohesion and a broadplatform for initiating multidisciplinary collaboration.

Special focus in research is on nonlinear control, robust control, geometric modeling ofphysical systems, adaptive and behavioral systems, hybrid systems, infinite-dimensionalsystems, modeling and identification of stochastic systems, stochastic filtering and control,and financial engineering. Emphasis is on intrinsic mathematical formulations, making closecontact with various branches of mathematics.

From an applications point of view the research on nonlinear and robust control, modelingof physical systems, adaptive and behavioral systems, hybrid systems, infinite-dimensionalsystems theory is motivated by collaboration with engineering departments. At the local levelthis collaboration takes place within the local institutes IMPACT and CTIT, while on theEuropean level there is a large involvement within a number of corresponding EU networks.Applications are mainly found in the large area of mechatronics, both in the analysis ofdesign, as in simulation and control of engineering systems.The research on hybrid systemsis moving towards collaboration with computer science in the area of embedded systems(within the local research institute CTIT). The research on stochastic modeling andidentification and stochastic filtering and control finds its applications within variouscollaborations (locally within institutes IMPACT and CTIT), and nationally e.g. with the NLR.A new direction of research has taken place towards the emerging area of financialengineering, in collaboration with management studies.

DISC projects

Sampled-data systems and robust control

G. MeinsmaProjectleader:

DescriptionThe research on Sampled-data systems is directed towards applications of ideas fromsystems theory to problems in signal processing. Joint work with Mirkin from Technion IITin Haifa has led to a number of re-interpretations of known results in signal processing andto new design methodologies for optimal samplers and holding devices. We are convincedthat the signal processing community benefits such a systems approach. For example itappears to be possible to design optimal holds (and certain samplers) with user-assigneddegree of causality, while hitherto optimality could only be incorporated for noncausal


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samplers and holds. Along the way quite a few new mathematical notions have to beintroduced. In particular we believe that our state space representation over intersampletime of transfer function operators holds promise for design and also helps to get a handleon the infinite dimensionality of the problem. Methods of robust control are incorporated inour work as well.

Hybrid systems

J.W. PoldermanProjectleader:

DescriptionHybrid systems are any kind of systems (or processes) with interacting continuous anddiscrete dynamics. It is an emerging area of research, with contributions from computerscience, physical systems modeling and simulation, and systems and control theory.

Collaboration was continued with computer science. Joint research with the chair of formalmethods and tools (Computer Science) concerns two projects, both supported by NWO.The first project is concerned with robustness of timed automata.The second project studiesstability and control of switched linear systems.

Control of linear systems subject to constraints

A.A. StoorvogelProjectleader:

DescriptionTime-domain constraints often yield a serious limitation on achievable performance in thecontrol of industrial processes. On the other hand the requirement for high performancemeans that we can not simply guarantee that we stay far away from the constraint boundary.

In this project the special structure of a linear system is used where constraints are the onlynonlinearity occurring in the system.

In this setting a more or less complete controller design methodology needs to be developed.We have studied the problems of stabilization and tracking/regulation of linear systemssubject to input saturation and/or subject to rate limits. Extensions to linear systems subjectto state and input constraints are actively being developed.

Regarding our future objectives, first of all we want to get a better understanding of theeffects of rate-limits and state constraints in stability and regulation problems. Secondly, theproblem of reducing the effect of disturbances will be studied. Currently this is only understoodin the case of "matched" disturbances. In particular, we will investigate the effect of stochasticdisturbances. We will also look into the question how disturbance rejection can be achievedin a Model Predictive Control framework.

Decentralized control

A.A. StoorvogelProjectleader:

DescriptionMany systems that need to be controlled currently have structural constraints on the controller.A prime example is a controller, which consist of different components with limited orunreliable communications between channels.The research focuses initially on stabilizationissues and linear systems. The ideal is to have a design methodology, which enables us to


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design a stabilizing controller, which is maximally robust against failure of one or moreconnections between the different components of the controller.

Infinite-dimensional systems

H.J. ZwartProjectleader:

DescriptionThe main themes within this research field are: infinite-dimensional port-Hamiltonian systems,climate control in a warehouse or container, fluid control for water purification, stabilityanalysis of discrete- and continuous evolution equations, and systems properties ofinfinite-dimensional systems. For infinite-dimensional port-Hamiltonian systems we studyquestions, like (exponential) stability, well-posedness, controllability, etc. The underlyingstructure for port-Hamiltonian systems is known as the Dirac structure. Among others it isshown this structure is known under different names in other fields of mathematics. Usingthis structure, necessary and sufficient conditions were found such that the composition oftwo port-Hamiltonian systems is again port-Hamiltonian. We remark that, unlike forfinite-dimensional systems, this was not clear for infinite-dimensional systems.

Several results were obtained for the climate control and the fluid control.The most importantone being the fact that the residence time distribution, which in many plants can be easilymeasured, can be used to obtain a non-linear state space model possible with delays.

Exponential stability for infinite-dimensional systems on a Hilbert space is well understood.An unsolved question is to give bounds on its overshoot. In the Ph.D. project “Bounds onStable Semigroups” (funded by NWO) it is shown that it is possible to identify classes ofdiscrete- and continuous-time systems with similar overshoot behavior. If two continuous-timesystems are in the same class, then their discretization obtained via the Crank-Nicolsonscheme are in the same discrete-time class. The system property which has been studiedis the characterization of exact observability by the Hautus test.

Stochastic systems

A. BagchiProjectleader:

DescriptionThe main focus of our research is on particle filtering with application to sensor networks.We have worked on MAP estimation algorithms and effective methods for parameterestimation. We are currently working on regime switches. They are critical in detection ofmultiple objects in sensor networks.

Another area involves our ongoing research on accident risk and flight efficiency issues firaircraft in free flight.We are working on speeding up Monte Carlo simulation for the movementof a large number of aircraft using periodic boundary models. This is part of the iFLY projectfinanced by the EU.

Financial Engineering

A. BagchiProjectleader:

DescriptionFinancial engineering is a new and rapidly growing discipline which tends to bridge the gapbetween highly theoretical research of mathematicians on financial mathematics and the


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actual problems faced by traders and asset management professionals in practice. Theresearch attempts to produce innovative tailor-made solutions, which may be fashioned byfinancial institutions for their clients. Financial engineering is a major focus of the Faculty ofApplied Mathematics and a university-wide research laboratory (FELab) has been set upfor this purpose. Our research group plays a leading role in this effort. We are currentlyconcentrating on hedging problems in incomplete markets using event-based strategies anddeveloping arbitrage-free models of smile dynamics. In addition, we are studying stochastichyperbolic differential equations as models for infinite-dimensional forward rates andestimating parameters of such models. It is clear that our approach to finance is that ofsystems engineers, and this fits perfectly our background and motivation.

Publications

Book chapters/parts

Blom, H.A.P. and Bakker, G.J. and Krystul, J. (2009) Rare event estimation for a large-scalestochastic hybrid system with air traffic application. In: Rare Event Simulation using MonteCarlo Methods. John Wiley & Sons, pp. 193-214. ISBN 978-0-470-77269-0

Blom, Kordy, P.T. and Langerak, R. and Polderman, J.W. (2009) Re-verification of a LipSynchronization Algorithm using robust reachability. In: Formal Methods for Aerospace,03 Nov 2009, Eindhoven, The Netherlands. Technische Universiteit Eindhoven. ISSNnot assigned


Aihara, S.I. and Bagchi, A. and Saha, S. (2009) On parameter estimation of stochastic volatilitymodels from stock data using particle filter - Application to AEX index -. InternationalJournal of Innovative Computing, Information and Control, 5 (1). pp. 17-27. ISSN1349-4198

Bagchi, A. and Suresh Kumar, K. (2009) Dynamic asset management with risk-sensitive criterionand non-negative factor constraints: a differential game approach. Stochastics AnInternational Journal of Probability and Stochastic Processes, 81 (5). pp. 503-530. ISSN1744-2508

Curtain, R. and Iftime, O.V. and Zwart, H.J. (2009) System theoretic properties of a class ofspatially invariant systems. Automatica, 45 (7). pp. 1619-1627. ISSN 0005-1098

Jacob, B. and Zwart, H.J. (2009) On the Hautus test for exponentially stable C_0-groups. SIAMjournal on control and optimization, 48 (3). pp. 1275-1288. ISSN 0363-0129.

Jamshidian, F Boers, Y. and Driessen, J.N. (2009) A note on bounds for target tracking withPd < 1. IEEE Transactions on Aerospace and Electronic Systems, 45 (2). pp. 640-646.ISSN 0018-9251

Nurdin, H.I. and Mazumdar, R.R. and Bagchi, A. (2009) Reduced-dimension linear transformcoding of distributed correlated signals with incomplete observations. IEEE Transactionson Information Theory, 55 (6). pp. 2848-2858. ISSN 0018-9448

Saha, S. and Mandal, P.K. and Boers, Y. and Driessen, H. and Bagchi, A. (2009) Gaussianproposal density using moment matching in SMC methods. Statistics and Computing,19 (2). pp. 203-208. ISSN 0960-3174

Spierdijk, L. and Vellekoop, M.H. (2009) The structure of bias in peer voting systems: lessonsfrom the Eurovision Song Contest. Empirical Economics, 36 (2). pp. 403-425. ISSN0377-7332


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van Mourik, S. and Zwart, H.J. and Keesman, K.J. (2009) Integrated open loop control anddesign of a food storage room. Biosystems Engineering, 104 (4). pp. 493-502. ISSN1537-5110

van Mourik, S. and Zwart, H.J. and Keesman, K.J. (2009) Modelling and controller design fordistributed parameter systems via residence time distribution. International journal ofcontrol, 82 (8). pp. 1404-1413. ISSN 0020-7179

Villegas, J.A. and Zwart, H.J. and Le Gorrec, Y. and Maschke, B. (2009) Exponential stabilityof a class of boundary control systems. IEEE transactions on automatic control, 54 (1).pp. 142-147. ISSN 0018-9286

Wang, X. and Saberi, A. and Stoorvogel, A.A. and Roy, S. and Sannuti, P. (2009) Computationof the recoverable region and stabilisation problem in the recoverable region fordiscrete-time systems. International journal of control, 82 (10). pp. 1870-1881. ISSN0020-7179


Aihara, S.I. and Bagchi, A. and Imreizeeq, E.S.N. (2009) Parameter estimation of electricityspot models from futures prices. In: Proceedings of the 15th IFAC Symposium on SystemIdentification, 6-8 July 2009, Saint-Malo. pp. 1457-1462. IFAC. ISBN 978-3-902661-47-0

Boers, Y. and Driessen, J.N. and Bagchi, A. Point Estimation for Jump Markov Systems:VariousMAP estimators. In: Proceedings of 12th International Conference on Information Fusion2009, 06-09 July, 2009, Seattle, USA. International Society of Information Fusion. ISBN978-0-9824438-0

Curtain, R.F. and Iftime, O.V. and Zwart, H.J. (2009) LQR control for scalar finite and infiniteplatoons. In: SYSTEMS THEORY : Modélisation, Analyse et Contrôle - Actes de laConférence Internationale, 25-28 May 2009, Fes, Morocco. pp. 19-30. PressesUniversitaires de Perpignan. ISBN 978-2-35412-043-6

Deliu, C. and Malek, B. and Roy, S. and Saberi, A. and Stoorvogel, A.A. (2009) Decentralizedcontrol of discrete-time linear time invariant systems with input saturation. In: Proceedingsof the 2009 American Control Conference, 10-12 Jun 2009, St. Louis, MO, U.S.A.. pp.2539-2544. IEEE. ISSN 0743-1619 ISBN 978-1-4244-4524-0

Deliu, C. and Stoorvogel, A.A. and Saberi, A. and Roy, S. and Malek, B. (2009) Time varyingcontrollers in discrete-time decentralized control. In: Joint 48th IEEE Conference onDecision and Control and 28th Chinese Control Conference, 16-18 Dec 2009, Shanghai,China. pp. 1627-1631. IEEE. ISSN 0191-2216 ISBN 978-1-4244-3872-3

Fatmawati, F. and Zwart, H.J. (2009) Characterization of system theoretic properties for a classof spatially invariant systems. In: SYSTEMS THEORY : Modélisation, Analyse et Contrôle- Actes de la Conférence Internationale, 25-28 May 2009, Fes, Morocco. pp. 441-448.Presses Universitaires de Perpignan. ISBN 978-2-35412-043-6

Saha, S. and Boers, Y. and Driessen, J.N. and Mandal, P.K. and Bagchi, A. (2009) Particlefilter based MAP state estimation: A comparison. In: Proceedings of 12th InternationalConference on Information Fusion 2009, 06-09 July, 2009, Seattle, USA. pp. 278-283.International Society of Information Fusion. ISBN 978-0-9824438-0-4

Saha, S. and Mandal, P.K. and Bagchi, A. and Boers, Y. and Driessen, J.N. (2009) Parameterestimation in a general state space model from short observation data: A SMC basedapproach. In: Proceedings of the 2009 IEEE/SP 15th Workshop on Statistical SignalProcessing, 31 Aug - 03 Sep 2009, Cardiff, UK. pp. 41-44. IEEE. ISBN 978-1-4244-2710-9

Stoorvogel, A.A. and Roy, S. and Wan, Y. and Saberi, A. (2009) A class of neutral-type delaydifferential equations that are effectively retarded. In: Proceedings of the 2009 AmericanControl Conference, 10-12 Jun 2009, St. Louis, MO, U.S.A.. pp. 4915-4920. IEEE. ISSN0743-1619 ISBN 978-1-4244-4524-0


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Ugryumova, D. and Lau, K. and Braslavsky, J. and Meinsma, G. (2009) An application of systemidentification techniques to impedance estimation in magnetotelluric surveying. In:Proceedings of the 15th IFAC Symposium on System Identification 2009, 6-8 July 2009,Saint-Malo, France. pp. 970-975. IFAC. ISSN 1474-6670

Wan, Y. and Roy, S. and Saberi, A. and Stoorvogel, A.A. (2009) Multiple-derivative andmultiple-delay paradigm for decentralized controller design: uniform-rank systems. In:Joint 48th IEEE Conference on Decision and Control and 28th Chinese ControlConference, 16-18 Dec 2009, Shanghai, China. pp. 1613-1620. IEEE. ISSN 0191-2216ISBN 978-1-4244-3872-3

Wan, Y. and Roy, S. and Saberi, A. and Stoorvogel, A.A. (2009) The design ofmulti-lead-compensators for stabilization and pole placement in double-integrator networksunder saturation. In: Proceedings of the 2009 American Control Conference, 10-12 Jun2009, St. Louis, MO, U.S.A.. pp. 3512-3518. IEEE. ISSN 0743-1619 ISBN978-1-4244-4524-0

Wan, Y. and Roy, S. and Stoorvogel, A.A. and Saberi, A. (2009) On multiple-delayapproximations of multiple-derivative controllers. In: European Control Conference, 23-26August 2009, Budapest, Hungary. pp. 4163-4168. European Union Control Association.ISBN 978-963-311-369-1

Wang, X. and Stoorvogel, A.A. and Saberi, A. and Grip, H.F. and Roy, S. and Sannuti, P. (2009)Stabilization of a class of sandwich nonlinear systems via state feedback. In: Joint 48thIEEE Conference on Decision and Control and 28th Chinese Control Conference, 16-18Dec 2009, Shanghai, China. pp. 1417-1421. IEEE. ISSN 0191-2216 ISBN978-1-4244-3872-3

Ph.D. theses

Saha, S. (2009) Topics in Particle Filtering and Smoothing. (2009, September 18). 127 pp.Thales Nederland BV. Thesis advisor(s): prof. dr. A. Bagchi, dr. P.K. Mandal. ISBN:978-90-365-2864-1

M.Sc. theses

Angoshtari, B. On Utility of Wealth Maximization. Universiteit Twente, Faculteit EWI, AfdelingToegepaste Wiskunde, Enschede, 27-08-2009.

Eppens, E. A study on the consistency of assumptions about correlations in the ALM and ECmodels of Nationale Nederlanden. Universiteit Twente, Faculteit EWI, Afdeling ToegepasteWiskunde, Enschede, 25-08-2009.

Jong de, R. Railroad crossing video monitoring; the development and comparison of algorithms.Universiteit Twente, Faculteit EWI, Afdeling Toegepaste Wiskunde, Enschede, 29-06-2009.

Kamp van der, R. Local Volatility Modelling. Universiteit Twente, Faculteit EWI, AfdelingToegepaste Wiskunde, Enschede, 24-07-2009.

Khomasuridze, I. Extensions of the SABR Model for Equity Options. Universiteit Twente, FaculteitEWI, Afdeling Toegepaste Wiskunde, Enschede, 17-07-2009.


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University of Twentefaculty of Engineering TechnologyMechanical Engineering DepartmentLaboratory of Mechanical Automation and Mechatronics

General Information

Addressp.o.box 217, 7500 AE Enschede, The Netherlands

Scientific staffprof.dr.ir. J.B. Jonker, prof.dr.ir. J.L. Herder, prof. dr. ir. B. Huis in t'Veld, prof.dr.ir. C. DePersis, prof.ir. H.M.J.R. Soemers, dr.ir. R.G.K.M. Aarts, dr. ir. D.M. Brouwer, dr.ir. J. vanDijk, ir. B Pathiraj, Dr.ir. G.R.B.E. Römer

Technical and administrative staffing. G.H.P. Ebberink, L. Tiemersma, M.G. Tjapkes

PhD studentsD. Arnaldo del Cerro, MSc Ir. S.E. Boer J. Eichstädt, M.Eng J.P. Khatait, MSc Ir. B. KrijnenA.R. Konuk, MSc V.S. Mitko, MSc Ir. G.W. van der Poel J. Skolski, MSc Ir. D. Tjepkema Ir.V. van der Wijk

Temporary staff and postdocsDr.ir. W.B.J. Hakvoort Dr. R. Jaghdeesh Dr.ir. J.P. Meijaard Dr ir. A. Mehendale

Cooperation withApplied Piezo Foundation, P.O.Box 42, 1520 AA Zaanstad

Cooperation withStichting Mechatronica Valley Twente, Zutphenstraat 25,7575 EJ, OLDENZAAL

KeywordsActive vibration isolation control, active control of sound, adaptive control, constructionprinciples, dynamic system modelling, lasermachining of materials, learning control, machinedynamics, motion control, mechatronics, flexible muli-body dynamics, non-linear systemidentification, parameter estimation, precision equipment design, robotics, servo systemdesign, system identification, vision

Brief descriptionResearch in the Mechanical Automation group is concerned with the design and developmentof methods and equipment for the control and automation of mechanical systems and physicalprocesses. A substantial part of the research is addressed to the development of machiningsystems for laser materials processing.

The research involves a combined approach of theoretical analyses, numerical simulationsand experimental investigations. A large part of research consists of engineering projects,often executed in close co-operation with the industry. Substantial support is obtained fromexternal sources like the European Community (Craft), the Dutch programs STW,IOP-Precision Technology, SmartMix and NIMR (Netherlands Institute of Metals Research).


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Research forms part of the activities organised in the National Research schools DISC(Dutch Institute of Systems and Control) and EM (Engineering Mechanics).

The main research and design activities are organised in two sub programs:• Lasermaterial processing• (micro) mechatronic systems

DISC projects

Design of a smart-mount for application of vibration isolation in precisionmachinery

Dr. ir. J van DijkProjectleader:ir. G.W. van der PoelPhD students:IOPSponsored by:

DescriptionThe presence of poorly damped structural vibration modes in high-precision machines canpose a limit on the achievable accuracy, when these modes are excited by direct disturbances(e.g. cables, environmental sound, air currents, internal acceleration forces) and/or floor/basevibrations. Increasing the resonance frequencies by passive means (e.g. maximising stiffness)may not reduce the influence of structural modes on accuracy to an acceptable level.Therefore, many precision machines are supported by air mounts, which offer good isolationfrom floor/base vibrations at frequencies higher than the suspension mode resonance (1-2Hz). However, air mounts are so-called soft mounts, which means that they are very compliantto direct disturbances.

A more promising method is the concept of using active hard mounts for machine support.The hard mount's larger stiffness results in less compliance to direct disturbances. But onthe other hand, the influence of floor vibrations is increased, because the suspension moderesonance now becomes typically 15-30 Hz. Therefore, an active vibration isolation control(AVIC) system must be used, which compensates for floor vibrations in the lower frequencyrange.

Research objectives• Development of a mechatronic design procedure for hybrid isolation systems which

offer efficient vibration isolation from both direct disturbances and floor vibrations;• Design of a hybrid mount which forms a stiff connection in the actuated degrees of

freedom while achieving (very) low stiffness in the remaining directions;• Application of the developed hybrid mounts in an adequate demonstrator setup

Ongoing workThe most promising experimental results on the SISO setup have been obtained by usinga combination of (fixed gain) feedback control and adaptive feedforward control.The system'sfloor mass is excited by a shaker, resulting in a 45 mm/s2 rms floor vibration level. Theresidual vibration level was 8 mm/s2 rms, which corresponds to an average reduction of 21dB over the 0 1 kHz frequency range.

A MiMo three dimensional laboratory setup has been designed and realized.

University of Twentefaculty of Engineering Technology

Mechanical Engineering DepartmentLaboratory of Mechanical Automation and Mechatronics

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Further improvement of the adaptive control algorithms & review of absolute motion sensors.

Dr. ir. J van DijkProjectleader:ir. D. TjepkemaPhD students:SmartMixSponsored by:

DescriptionThe presence of poorly damped structural vibration modes in high-precision machines canpose a limit on the achievable accuracy, when these modes are excited by direct disturbances(e.g. cables, environmental sound, air currents, internal acceleration forces) and/or floor/basevibrations. Increasing the resonance frequencies by passive means (e.g. maximising stiffness)may not reduce the influence of structural modes on accuracy to an acceptable level.Therefore, many precision machines are supported by air mounts, which offer good isolationfrom floor/base vibrations at frequencies higher than the suspension mode resonance (1-2Hz). However, air mounts are so-called soft mounts, which means that they are very compliantto direct disturbances.

A more promising method is the concept of using active hard mounts for machine support.The hard mount's larger stiffness results in less compliance to direct disturbances. But onthe other hand, the influence of floor vibrations is increased, because the suspension moderesonance now becomes typically 15-30 Hz. Therefore, an active vibration isolation control(AVIC) system must be used, which compensates for floor vibrations in the lower frequencyrange. Especially measurement of low-frequent and extreme small-amplitute of ofmachine-motion is addressed in this project.

Objectives: An important issue is the measurement of low frequent floor-vibrations via eitheraccelerometers or geophones (velocity measurement) combined with their specific signalprocessing hardware suffer from bad signal to noise ratio for frequencies below 1 Hz. Inorder to have appropriate vibration reduction the wish is to have good signal to noise ratioproperties from to the frequency region>0.1 Hz. Possible solutions can be found in theapplication of MEMS based sensors.There are a few on the market, but also the opportunitiesoffered by other research in the consortium SmartPie (thin film piezo sensoring) should beexploited.

Ongoing workDesign of an inertial position and velocity sensor.


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Non-DISC projects

Motion in vaccuum by elastic mechanisms

Ir. S.E. BoerPhD students:

Chirurgical Tele-manipulation System with Intuitive Control for MinimalInvasive Surgery

M.Sc. J.P. KhataitPhD students:

Closed loop embedded MEMS-based Precision Stage (CLEMPS)

Ir. B. KrijnenPhD students:

Development of SPACAR, a flexible multi-body modelling tool

Dr. ir. J. MeijaardProjectleader:

MEMS-based Micro Coriolis mass flow sensor

Dr. ir. A. MehendaleProjectleader:

Publications

Book chapters/parts

J. van Dijk, Mechatronic design of hard-mount concepts for precision equipment, pp. 315-324in Motion and Vibration Control, Ed. H. Ulbrich, L. Ginzinger, 978-1-4020-9437-8, SpringerMünchen, 2009.


A.J. Huis in 't Veld, M.N.W. Groenendijk, H. Fischer, On the origin, growth and applications ofripples, Journal of Laser Micro/Nanoengineering (ISSN 1880-0688) 3 (3) pp. 206-210(2009).

C. De Persis, Robust stabilization of nonlinear systems by quantized and ternary control,Systems & Control Letters (ISSN 0167-6911) 58 (8) pp. 602-609 (2009).

D.M. Brouwer, B.R. de Jong, M.J. de Boer, H.V. Jansen, J. van Dijk, G.J.M. Krijnen and H.M.J.R.Soemers, MEMS-based clamp with a passive hold function for precision postition retainingof micro manipulators, Journal of Micromechanics and Microengineering (ISSN 1361-6439)19 (6) pp. 065027 (20pp) (2009).

D.M. Brouwer, B.R. de Jong, M.J. de Boer, H.V. Jansen, J. van Dijk, G.J.M. Krijnen, H.M.J.R.Soemers, MEMS-based clamp with a passive hold function for precision position retainingof micromanipulators, Journal of Micromechanics and Microengineering (ISSN 0960-1317)19 (6) pp. 1-20 (2009).

G.R.B.E. Römer, A.J. Huis in 't Veld, J. Meijer, M.N.W. Groenendijk, On the formation of laserinduced self-organizing nanostructures, CIRP Annals - Manufacturing Technology (ISSN0007-8506) 58 pp. 201-204 (2009).



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J.B. Jonker, R.G.K.M. Aarts, J. van Dijk, A linearized input-output representation of flexiblemultibody systems for control synthesis, Multibody System Dynamics (ISSN 1384-5640)21 (2) pp. 99-122 (2009).

M.B.P. Huijts, D.M. Brouwer, J. van Dijk, Design, modeling and control of an elastic parallelkinematic 6-DOFs manipulator, Mikroniek (ISSN 0026-3699) pp. 42-47 (2009).

W.B.J. Hakvoort, R.G.K.M. Aarts, J. van Dijk, J.B. Jonker, A computationally efficient algorithmof iterative learning control for discrete-time linear time-varying systems, Automatica(ISSN 0005-1098) 45 (12) pp. 2925-2929 (2009).


A.J. Huis in 't Veld, H. van der Veer, Initiation of femtosecond laser machined ripples in steelobserved by scanning helium ion microscopy (SHIM), No pages in Proceedings ofLAMP2009 - the 5th International Congress on Laser Advanced Materials Proceeding(No ISBN or ISSN) Kobe, Japan, June, 29-July, 2, 2009.

A.L. Schwab, J.P. Meijaard, Beam benchmark problems for validation of flexible multibodydynamics codes, pp. 1-13 in Proceedings of the ECCOMAS Thematic Conference,Multibody Dynamics 2009, Ed. K. Arczewski, J. Fraczek, M. Wojityra (ISBN978-83-7207-813-1) Warsaw, Poland, Warsaw University of Technology, June, 29-July,2, 2009.

A.R. Konuk, R.G.K.M. Aarts, A.J. Huis in 't Veld, Spectra analysis of the process emissionduring laser welding of AISI 304 stainless steel with disk and Nd:YAG laser, pp. 666-675in Proceeding of the ICALEO 2009 (ISBN 978-0-912035-59-8) Orlando, FL, USA,November, 2-5, 2009.

C. De Persis, C.S. Kallesoe, Pressure regulation in nonlinear hydraulic networks by positivecontrols, pp. 4102-4107 in Proceedings of the European Control Conference '09 (ISBN978-963-311-369-1) Budapest, Hungary, August, 23-26, 2009.

C. De Persis, C.S. Kallesoe, Qunatized controllers distributed over a network: An industrialcase study, pp. 616-621 in Proceedings of the Meditarranean Control Conference '09(ISBN 978-1-4244-4685-8) Thessaloniki, Greece, June, 24-26, 2009.

C. De Persis, F. Mazenc, Stability of quantized time-delay nonlinear systems: ALyapunov-Krasowskii-functional approach, pp. 4093-4098 in Proceedings of Joint 48thIEEE Conference on Decision and Control and 28th Chinese Control Conference (ISBN978-1-4244-3872-3) Shanghai, China, December, 16-18, 2009.

C. De Persis, Robustness of quantized continuous-time nonlinear systems to encoder/decodermismatch., pp. 13-18 in Proceedings of Joint 48th IEEE Conference on Decision andControl and 28th Chinese Control Conference (ISBN 978-1-4244-3872-3) Shanghai,China, December, 16-18, 2009.

D.M. Brouwer, B.R. de Jong, H.M.J.R. Soemers, MEMS-based 6 DOF parallel kinematicprecision micro manipulator, pp. Vol. I, 111-114 in Proceedings of the EUSPEN 2006(No ISBN or ISSN) Baden-Wien, Austria, May, 2009.

D.M. Brouwer, J. Bennik, J. Leideman, H.M.J.R. Soemers, S. Stramigioli, Mechatronic designof a fast and long range 4 degrees of freedom humanoid neck, pp. 574 - 579 inProceedings of the IEEE International Conference on Robotics and Automation 2009(ISBN 978-1-4244-2788-8, ISSN 1050-4729) Kobe, Japan, May, 12-17, 2009.

D.M. Brouwer, J.P. Meijaard, J.B. Jonker, Elastic element showing low stiffness loss at largedeflection, pp. 1-4 in Proceedings of the 24th ASPE Annual Meeting (No ISBN or ISSN)Monterey, California, USA, October, 4-9, 2009.


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G.R.B.E. Römer, D. Arnaldo del Cerro, R.C.J. Sipkema, M.N.W. Groenendijk, A.J. Huis in 'tVeld, Ultra short pulse laser generated surface textures for anti-ice applications in aviation,pp. 30-37 in Proceedings of the ICALEO 2009 (ISBN 978-0-912035-59-8) Orlando, FL,USA, November, 2-5, 2009.

H.M.J.R. Soemers, D. van Lierop, R. Sanders, T. Kuijpers, B. de Jong, A MEMS mirror forminiature laser projection, pp. 337-340 in Proceedings of the Euspen InternationalConference (ISBN 0-9553082-6-0) San Sebastian, Spain, June, 2-5, 2009.

J.B. Jonker, J.P. Meijaard, Definition of deformation parameters for beam elements and theiruse in flexible multibody system analysis, pp. 1-20 in Proceedings of the ECCOMASThematic Conference, Multibody Dynamics 2009, Ed. K. Arczewski, J. Fraczek, M.Wojityra (ISBN 978-83-7207-813-1) Warsaw, Poland, Warsaw University of Technology,June, 29-July, 2, 2009.

J.P. Meijaard, W.B.J. Hakvoort, Modelling of fluid-conveying flexible pipes in multibody systems,No pages in Proceedings of the 7th EUROMECH Solid Mechancis Conference, Ed. J.A.C.Ambrosio & M.P.T. Silva (ISBN 978-989-96264-2-3) Lisboa, Portugal, PortugueseAssociation for Theoretical, Applied and Computational Mechanics, September, 7-10,2009.

L. Kristiansen, A. Mehendale, D.M. Brouwer, J.M. Zwikker, M.E. Klein, Optical measurementof a micro coriolis mass flow sensor, pp. 328-332 in Proceedings of the 9th EuspenInternational Conference 2009, Vol. I (ISBN 0-9553082-6-0) San Sebastian, Spain, June,2-5, 2009.

M.B.P. Huijts, D.M. Brouwer, J. van Dijk, Design and control of a parallel kinematic 6-DOFsprecision manipulator, pp. 357-360 in Proceedings of the 9th Euspen InternationalConference 2009 (ISBN 0-9553082-6-0) San Sebastian, Spain, June, 2-5, 2009.

R. Reilink, L.C.Visser, J. Bennik, R. Carloni, D.M. Brouwer, S. Stamigioli, The Twente humanoidhead, pp. 1593-1594 in 2009 IEEE Proceedings of the International Conference onRobotics and Automation (ISBN 978-1-4244-2788-8, ISSN 1050-4729) Kobe, Japan,May, 12-17, 2009.

R.G.K.M. Aarts, J. van Dijk, J.B. Jonker, Efficient analyses for the mechatronic design ofmechanisms with flexible joints undergoing large deformations, pp. 1-7 in Proceedingsof the ECCOMAS Thematic Conference, Multibody Dynamics 2009, Ed. K. Arczewski,J. Fraczek, M. Wojityra (ISBN 978-83-7207-813-1) Warsaw, Poland, Warsaw Universityof Technology, June, 29-July, 2, 2009.

T.P.H. Warmerdam, H.M.J.R. Soemers, Increasing precision and performance by relaxing theclassical design rules: bio inspired design, pp. 305-308 in Proceedings of the 9th EuspenInternational Conference 2009 (ISBN 0-9553082-6-0) San Sebastian, Spain, May, 2009.

W.B.J. Hakvoort, R.G.K.M. Aarts, J.B. Jonker, Improved tracking for systems with configurationdependent dynamics by the application of robust iterative learning control, pp. 289-292in Proceedings of the 9th Euspen International Conference 2009 (ISBN 0-9553082-6-0)San Sebastian, Spain, June, 2-5, 2009.

Ph.D. theses

D. Iakovou, Sensor development and integration for robotized laser welding, 978-90-365-2770-5,University of Twente, February, 5, 2009.

J.T. Hofman, Development of an observation and control system for industrial laser cladding,978-90-77172-42-1, University of Twente, February, 13,

W.B.J. Hakvoort, Iterative learning control for LTV systems with applications to an industrialrobot, 978-90-77172-44-5, University of Twente, May, 28, 2009.



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M.Sc. theses

Alexander Otten, Design of an elastic mechanism for a MEMS based electrostatic actuator,Report no. wa1197, June, 25, 2009.

B. Nahuis, Thermo mechanical behavior of ironcare linear motors, Report no. wa1178, March,12, 2009.

D. Hordijk, Modelling and control of an active visor on a trailing suction Hopper Dredger, Reportno. wa1206, September, 9, 2009.

J. Jansen, Research on the application of adhesive joining of micro parts, Report no. wa1208,September, 17, 2009.

J.B. Bakker, Investigation into oscillating cutting methods for passenger tire components, Reportno. wa1203, August, 8, 2009.

M. Huijts, Design, modelling and control of a parallel kinematic manipulator validated withexperiments, Report no. wa1182, April, 8, 2009.

M. Trumpi, Proof-of-principle design of an automated optical fiber to waveguide coupler,University of Twente, Report no. wa1181, March, 5, 2009.

Maarten Menno Arnolli, Model developments for the nonlinear dynamic analysis of a flexibleparallel guidance, Report no. wa1198, July, 10, 2009.

P. Toljaga, Design of an advanced robot hand for a humanoid assistant robot, Report no.wa1196, June, 18, 2009.

Rudolf Saathof, Adaptive Vibration Isolation Control using Infinite Impulse Response Filters,University of Twente, Report no. wa1177, February, 20, 2009.

S. E. Boer, Study of a thermal deformation state estimator for use in optical lithography,University of Twente, Report no. wa1172, January, 9, 2009.


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University of GroningenIndustrial Technology and Management

General Information

AddressITM, Nijenborgh 4, 9747 AG Groningen, The Netherlands. Phone (secretary):+31–50-3638493. Fax: +31-50-3638498. E-mail (secretary): [email protected]

Scientific staffprof.dr.ir. J.M.A. Scherpen, dr. B. Jayawardhana, dr. M. Cao

Technical and administrative staffing. H. W. van den Dool, lab coordinator ing. H. M. Kuis, lab technician K. Meyer, secretaryE. M. Vos, secretary

PhD students(Alphabetic order) D. del Puerto Flores, M.Sc., Ir. D. A. Dirksz, G. K. Holst Larsen, M.Sc.,Ir. R. Huisman, H. Liu, M.Sc., M. Muñoz Arias, M.Sc., Ir. R. Ouyang, M. Seslija, M.Sc. W.Xia, M.Sc. T. Voss, M.Sc. S. Zhang, M.Sc.

Temporary staff and postdocsT.C. Ionescu, Dr.

Cooperation withAustralian National University, Australia; Brain Center, Drachten; City University of Hongkong,Hongkong; Delft University of Technology; ECN, Petten; Eindhoven University of Technology;Gasunie Engineering and Technology, Groningen; Logica, Groningen; HIT, Assen; INCAS3,Assen; Microned, Netherlands; Nagoya University, Japan; NOM, Groningen; NXPsemiconductors, Eindhoven; Princeton University, USA; Renault, France; Supelec, France;TNO, Groningen, Delft; Tsinghua University, China; University of Groningen; University ofOldenburg, Germany; University of Twente; UPC, Barcelona, Spain;Yale University, USA;Zhejiang University, China.

KeywordsDistributed control systems, electrical circuits, electro-mechanical systems, mechanicalsystems, mechatronics, modeling, model reduction methods, nonlinear control systems,nano-manufacturing, passivity based control, space applications, autonomous robots, sensornetworks, distributed algorithms, cooperative control, graph theory, micro and nano scaleassembly.

Brief descriptionIndustrial Technology and Management is the research department of the faculty ofMathematics and Natural Sciences that is connected to the Industrial Engineering andManagement education of the University of Groningen. This report is about the DiscreteTechnology and Production Automation group within the department.The group was startedon 1 January 2007 with the appointment of prof. Scherpen. The group has been growing inthe past year with new staff members and development of the lab.

The core research activity deals with the development of new nonlinear control systemsmodeling, realization and order reduction methods, as well as control methods for nonlinear


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systems while relying on the physical structure of the system. The group focuses onapplications to electrical, mechanical and electro-mechanical systems. Nano-manufacturing,mechatronics, robotics, as well as some space systems are included in the interest. Newdevelopments also include an interest in distributed systems as well as coordination methodsin the context of the systems described above.

DISC projects

Reactive power control

J.M.A. ScherpenProjectleader:D. del Puerto FloresPhD students:

DescriptionReactive power of electrical systems is important to consider, since it may result in unwantedby-products and losses. However, up to now, the solutions in order to reduce the negativeaspects of relative power are taken care of in an ad hoc fashion.The purpose of this researchis to develop structural methods to deal with reactive power incorporated in a nonlinearcontrol framework that relies heavily on the physics. Therefore, passivity-based control andthe cyclo-dissipativity property are being used as cornerstone in this research. A laboratoryexperimental is part of the research.

Passivity-Based Control of port-Hamiltonian mechanical systems

J.M.A. ScherpenProjectleader:D. A. DirkszPhD students:

DescriptionIn this project control strategies are determined based on energy shaping to realizestabilization and tracking control of mechanical systems. The control strategies and thesystem descriptions are done in the port-Hamiltonian framework. Important problems thatwill be investigated are the control of systems without velocity measurements, systems whichhave parameter uncertainty and systems that are underactuated. Canonical transformationtheory (for port-Hamiltonian systems), dynamic extension and adaptive control are appliedto deal with these problems. Experiments will show how the control strategies perform in apractical setup.

Balanced truncation for dissipative and symmetric nonlinear systems

J.M.A. ScherpenProjectleader:T. C. IonescuPhD students:NWOSponsored by:

DescriptionIn this project we deal with the problem of model reduction for nonlinear dissipative andsymmetric systems based on the attractive tool of nonlinear balancing. A reduced ordermodel is obtained by eliminating the more or less dissipative dynamics of the full ordersystem. The result is an approximation of the original model that is again dissipative.Furthermore, since the nonlinear balancing technique is computationally complex, we make


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an attempt to simplify it, starting with the class of symmetric systems. We define a class ofnonlinear state-space symmetric systems for which the (Hankel) gain structure between thepast input and future output energy is determined solely based on the output energy andthe use of the symmetry property.

Distributed control of micro CHP systems

J.M.A. ScherpenProjectleader:N.D. van Foreest (Operations dept, Faculty of Economics and Business)Participants:G. K. Holst LarsenPhD students:Flexines (Koers Noord)Sponsored by:

DescriptionWe will work on pricing mechanisms to control the electricity supply of large numbers ofmicro Combined Heat Power (CHP) systems to the electricity grid. This type of electricityproduction differs from the current one: rather than a single-supplier multi-consumer marketsit becomes a multi-supplier multi-consumer market. As a household can independentlydecide to switch on and off its micro CHP, the electricity supply may show large fluctuations,leading to instabilities of the electricity grid. An interesting control mechanism to match supplyand demand is pricing.

Coordination of mobile agents using coarsely quantized information

M. Cao, C. De Persis(University of Twente)Projectleader:H. LiuPhD students:

DescriptionIn this project, we look into the issues arising when the distributed controllors for thecoordination of mobile multi-agent systems can only utilize coarsely quantized information.The first step is to look at the formation control problems where range measurements areused. We will also look into techniques to reduce chattering as a result of the quantizationeffects. Later on, stability and robustness will also be studied to make the control strategiesapplicable in practical settings.

Contactless micromanipulation by magnetic levitation

B. JayawardhanaProjectleader:R. OuyangPhD students:

DescriptionThe aim of this research project is to design an automatic micro-assembly system basedon the use of electromagnetic forces in order to improve production automation of micro andnanotechnology-based products. The advancement of micro-assembly techonology willhave an immediate impact which will enable new inventions in many fields. In engineering,complex micro-robots and complex micro-machines can be assembled which will helphumans to undertake various difficult tasks. In the medical field, it will impact the developmentof a robotic capsule endoscopy with advanced manipulation tasks where its movementsinside the human body can be controlled.


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Nonlinear control of nonlinear electrical circuits

J.M.A. ScherpenProjectleader:M. Munoz AriasPhD students:Technological Institute Costa RicaSponsored by:

DescriptionNonlinear control of nonlinear electrical circuits has gained quite a bit of attention in the lastdecade due to the introduction of passivity based control. This type of control uses thespecific physical structure of these systems. However, new developments for switchedelectrical circuits, such as for photo-voltaic inverters, robust control methods that deal withsource and load variations, e.g., the solar input and electricity net fluctuations, should bedeveloped. Reactive power considerations as well as guaranteed performance of the closedloop system should be incorporated in the methods to make it implementable and applicablefor switching electrical circuits.

Structure preserving model reduction for port-Hamiltonian systems

J.M.A. Scherpen, A. J. van der Schaft (IWI)Projectleader:M. SeslijaPhD students:NWOSponsored by:

DescriptionThis project aims at structure-preserving model reduction for linear and nonlinear systems.More specifically it aims at approximating port-Hamiltonian models, as naturally obtainedby network-modeling of multi-physics systems, by lower-order port-Hamiltonian systems.This will be done within the two main frameworks for model reduction of open systems;balancing (SVD-based in the linear case) and moment-matching (Krylov-based).

Cooperative control of robotic multi-agent systems

M. CaoProjectleader:W. XiaPhD students:

DescriptionThis project studies nonlinear behaviors in robotic multi-agent systems. Distributedcooperative control laws will be designed for achieving desirable global performance byusing only local information.The results obtained will be applied to large scale mobile sensornetworks.

Modeling and Control of inflatable space strures

J.M.A. ScherpenProjectleader:T. VossPhD students:MicronedSponsored by:

DescriptionIn this project mathematical models of inflatable space structures, specifically inflatablespace reflectors, are developed. To be able to control the shape of a reflector one can usepiezoelectric polymers as actuators which are bonded to the reflecting surface.The modeling


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of theses piezoelectric elements is done in the infinite dimensional port-Hamiltonianframework. We are also focusing on the spatial discretization of the infinite dimensionalport-Hamiltonian models to be able to design a finite dimension shape controller by usingpassivity based control methods. The main focus in the spatial discretization step is topreserve the structure of the model.

Mechatronic design of a cryogenic chopper mechanism for mid-infraredwavelength observations

B. JayawardhanaProjectleader:J.M.A. ScherpenParticipants:R. HuismanPhD students:SRONSponsored by:

DescriptionMid infrared wavelength observations are recognized as an important field of study inastronomy. These observations can provide further evidence of the early universe andconfirm various theories about objects that are intrinsically cold or redshifted due to theexpansion of the universe. The observation at mid-infrared wavelength is known to becorrupted by noise from thermal background in the sky. A chopping mechanism is commonlyused to reduce this thermal noise. In order to fulfill its specific functionality, the design ofchopping mechanisms have to take several factors into account: Firstly, it must work in thecryogenic environment where the sensitive mid-infrared instrument is located; Secondly, itmust have fast response time in order to maximize observation time; Thirdly, it provides anaccurate movement. In this project, advanced modeling and controller design for the choppingmechanism in several instruments will be developed, where one instrument, and thus thechopping mechanism is currently being designed in close collaboration with our project.

Constrained controllability of diffusively coupled multi-agent systems

M. Cao, K. Camlibel(IWI)Projectleader:S. ZhangPhD students:

DescriptionIn this project, we are concerned with the controllability issue for multi-agent systems whenthe agents are diffusively coupled together and when the control signals are contrained indifferent ways. The goal is to identify the class of constrained control inputs such that thesystem is controllable.This can be used for designing distributed control laws for autonomousrobotic teams. A robotic testbed will be utilized to test theoretical results.

Publications

Book chapters/parts

T.C. Ionescu, J.M.A. Scherpen, Nonlinear cross Gramians, in System Modeling andOptimizations, IFIP AICT 312, Springer Boston, Eds., A. Korytowski, K. Malanowski,W. Mitkowski, M.Szymkat (2009) 293-306.


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B. Jayawardhana, G. Weiss, State convergence of passive nonlinear systems with an L2 input,IEEE Trans. Automatic Contr., vol. 54, no. 7, pp. 1723-1727, July 2009.

B. Jayawardhana, H. Logemann, E.P. Ryan, Input-to-State Stability of Differential Inclusionswith Applications to Hysteretic and Quantized Feedback Systems, SIAM Journal onControl and Optimization, vol. 48, no. 2, 2009.

B. Jayawardhana, H. Logemann, E.P. Ryan, Infinite-dimensional feedback systems: the circlecriterion and input-to-state stability, Communications in Information and Systems , vol.8, no. 4, 2009.

D. Jeltsema, J.M.A. Scherpen, Multidomain modeling of nonlinear networks and systems:energy- and power-based perspectives, feature article in IEEE Control Systems Magazine,Vol. 29, issue 4 (2009) 28-59.

F. Castanos, B. Jayawardhana, R. Ortega, E. Garcia-Canseco, A class of nonlinear RLC circuitsglobally stabilizable by proportional plus integral controllers, Journal of Circuits, Systemsand Signal Processing, 2009.

J. Fang, M. Cao, A. S. Morse, and B. D. O. Anderson, Sequential Localization of SensorNetworks, SIAM Journal on Control and Optimization, V48, Issue 1, pp321-350, Jan 2009


B. Jayawardhana, H. Logemann, E.P. Ryan, ISS for Lur'e Type Systems with Set-ValuedNonlinearities, Proc. of European Control Conference, Budapest, August 2009.

B. Jayawardhana, V. Andrieu, Sufficient conditions for dissipativity on Duhem hysteresis model,Proc. 48th IEEE Conference on Decision and Control, Shanghai, December 2009

D. del Puerto Flores, R. Ortega, J.M.A. Scherpen, Power factor compensation with losslesslinear filters is equivalent to (weighted) power equalization and a new cyclo-dissipativitycharacterization, Proc. IEEE Conf. Dec. Contr., CDC09, Shanghai, China (December2009) 6569-6574.

D. Pais, M. Cao, and N. E. Leonard, Formation shape and orientation control using projectedcollinear tensegrity structures, Proc. of the 2009 American Control Conference (ACC),pp610-615, St. Louis, Missouri, USA, June 2009

D.A. Dirksz, J.M.A. Scherpen, Passivity-based tracking control of port-Hamiltonian mechanicalsystemswith only position measurements, Proc. European Control Conference, Budapest,Hungary (August 2009) 4689-4694.

E. Garcia Canseco, J.M.A. Scherpen, M. Kuindersma, Modeling for control of a wobble yokeStirling engine,Proc. 2009 International Symposium on Nonlinear Theory and itsApplications, NOLTA'09. Sapporo, Japan (October 2009), 544-547.

J. Liu, B. D. O. Anderson, M. Cao, and A. S. Morse, Analysis of accelerated gossip algorithms,Proc. of the 48th IEEE Conference on Decision and Control, pp871-876, Shanghai, China,December 2009

M. Cao, C.Yu and B. D. O. Anderson, Coordination with the leader in a robotic team withoutactive communication, Proc. of the 17th Mediterranean Conference on Control andAutomation, pp252-257, Thessaloniki, Greece, June 2009

T.Voß, J.M.A. Scherpen, Structure preserving port-Hamiltonian discretization of a 1-D inflatablespace reflector, Proc. European Control Conference, Budapest, Hungary (August 2009)850-855.

T.C. Ionescu, K. Fujimoto, J.M.A. Scherpen, Positive and bounded real balancing for nonlinearsystems - a controllability and observability function approach, Proc. IEEE Conf. Dec.Contr., CDC09, Shanghai, China (December 2009) 4310-4315


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T.C. Ionescu, K. Fujimoto, J.M.A. Scherpen, The cross operator and singular value analysisfornonlinear symmetric systems, Proc. European Control Conference, Budapest, Hungary(August 2009) 1565-1570.

W.Yu, G. Chen and M. Cao, On second-order consensus in multi-agent dynamical systemswith directed topologies and time delays, Proc. of the 48th IEEE Conference on Decisionand Control, pp3709-3714, Shanghai, China, December 2009

Ph.D. theses

T.C. Ionescu, Balanced Truncation for Dissipative and Symmetric Nonlinear Systems, September2009

M.Sc. theses

J.M. Kamminga, Mastering the Dynamics of 4 Wheel Drive, August 2009.J.M.W. Biesterbos, Enabling Low-Cost and Flexible Robotized Workstations, August 2009M. Kuindersma, Dynamic Modeling for Control of a Kinematic Stirling Engine, April 2009R. Veenbaas, Humanoid Robots: Efficient Walking with Iterative Learning Control, December

2009.X. Wang, Formation Control of Robotic Swarms in Pipeline Inspection, September 2009

Other publications

B. Jayawardhana, Dynamical modeling of micro-assembly systems, Proc. 28th Benelux meetingon Systems and Control, Spa, Belgium, March 2009

D. del Puerto-Flores, J.M.A. Scherpen, R. Ortega, Power factor compensation in nonsinusoidalsystems based on cyclodissipativity, Proc. 28th Benelux meeting on Systems and Control,Spa, Belgium, March 2009

D.A. Dirksz, J.M.A. Scherpen, Passivity-based tracking control of port-Hamiltonian mechanicalsystems with only position measurements, Proc. 28th Benelux meeting on Systems andControl, Spa, Belgium, March 2009

M. Kuindersma, E. Garcia-Canseco, J.M.A. Scherpen, Modeling and control of a wobble yokestirling engine : applicaiton to micro-cogeneration systems, Proc. 28th Benelux meetingon Systems and Control, Spa, Belgium, March 2009

T. Voss, J.M.A. Scherpen, Spatial discretization of a 1D Euler-Bernoulli beam model, Proc.28th Benelux meeting on Systems and Control, Spa, Belgium, March 2009

W.Yu, M. Cao, Second-order consensus algorithms, Proc. 28th Benelux meeting on Systemsand Control, Spa, Belgium, March 2009


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University of Groningen, Johann Bernoulli Institute forMathematics and Computer Science, Research ProgramSystems, Control and Applied Analysis

General Information

AddressJohann Bernoulli Institute for Mathematics and Computer Science, University of Groningen,P.O. Box 407, 9700 AK Groningen, The Netherlands.

Scientific staffDr. M.K. Camlibel, Prof. dr. A. Dijksma (RUG, associated-emeritus), Prof.dr. A.J. van derSchaft, Prof.dr. H.L. Trentelman, Dr. M.E. Dür.

Technical and administrative staffK.M.E. Schelhaas

PhD studentsS. Fiaz, F. Kerber, R. Polyuga, H.B. Minh Q.T. Le, A. Venkatraman, H. Vinjamoor, P.J.C.Dickinson, S. Gottimukala, D. Kaba, N. Monshizadeh, M. Seslija, J.K. Sponsel.

Cooperation withDaniel Alpay (Ben-Gurion University of the Negev, Israel), Immanuel Bomze (University ofVienna, Austria), Stefan Bundfuss (TU Darmstadt, Germany)

Kay Hamacher (TU Darmstadt, Germany), Osamu Kaneko (University of Kanazawa, Japan),Heinz Langer (Vienna University of Technology, Austria) Bernhard Maschke (UniversiteClaude Bernard Lyon, France), Diego Napp Avelli (University of Aveiro, Portugal), AlbanQuadrat (INRIA Sophia Antipolis, France), Paolo Rapisarda (University of Southampton,UK), Shivan Shankar (Chennai Mathematics Institute, India), Oliver Stein (University ofKarlsruhe, Germany), Kiyotsugu Takaba (University of Kyoto, Japan), Jan C. Willems(Katholieke Universiteit Leuven, Belgium)

General Information

KeywordsModeling and control, model reduction, physical systems, port-Hamiltonian systems,behavioral approach to systems and control, hybrid dynamical systems, algebraic methods,discrete and continuous mathematical optimization.

Brief descriptionThe research program Systems, Control an Applied Analysis is devoted to the analysis anddesign of complex and heterogeneous system and optimization.The mathematical researchin this program is motivated by applications in various areas, including physicalengineering systems, networked systems, and systems biology. In 2009, the four main linesof research have been:

1) Modeling and control of complex physical systems as port-Hamiltonian systems

2) Behavioral approach to systems and control

University of Groningen, Johann Bernoulli Institute for Mathematics and Computer Science, Research ProgramSystems, Control and Applied Analysis

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3) Analysis and design of hybrid dynamical systems

4) Mathematical optimization theory

Internalization

Three international promovendi have been acquired under the Ubbo Emmius scheme of theFaculty of Mathematics and Natural Sciences of the University of Groningen: Devrim Kaba,Nima Monshizade, and Shuo Zhang. Devrim Kaba is being supervised by Kanat Camlibel,Nima Monshizade by Harry Trentelman and Kanat Camlibel, Shuo Zhang Ming Cao andKanat Camlibel.

The PhD students Julia K. Sponsel and Peter J.C. Dickinson followed the two week blockcourse (Combinatorial Optimization at Work} at TU Berlin, Germany)

The PhD student Aneesh Venkatraman spent two weeks at Imperial College, London(collaboration with prof. A. Astolfi).

The PhD student Rostyslav Polyuga was invited for a visit and a lecture at the TU Munich.

The PhD student Marko Seslija followed a course on port-Hamiltonian systems theory atthe EECI, Gif-sur-Yvette, France.

Further signs of recognition and news items

Kanat Camlibel is member of the IFAC Technical Committee on Linear Systems

Kanat Camlibel is member of the IFAC Technical Committee on Control Design

Kanat Camlibel is member of the IFAC Technical Committee member on Discrete Eventand Hybrid Systems.

Kanat Camlibel was International Program Committee Member of the 3rd IFAC Conferenceon Analysis and Design of Hybrid Systems, Zaragoza, September 16-18, 2009.

Mirjam Dür was Co-Chair (with Oliver Stein) of the EUROPT Workshop on Advances inContinuous Optimization, Remagen, Germany (July 3-4, 2009)

Mirjam Dür spent four weeks as a guest professor at Universit\'{e} Paul Sabatier, Toulouse,France

Mirjam Dür was invited plenary speaker at the 14th Belgian-French-German Conference onOptimization, Leuven, Belgium (September 2009)

Mirjam Dür was a member of the PhD committee of Guoyong Gu at TU Delft (Full-StepInterior Point Methods for Symmetric Optimization)

Mirjam Dür gave invited lectures at the universities of Twente, Eindhoven, Toulouse (France)and Ulm (Germany)

A. Dijksma participated in the Second Najman Conference at Dubrovnik, May 10-16 and inthe Schur Analysis Workshop in Leipzig, September 29- October 2.

Harry Trentelman was co-organizer of the Workshop "Open and Interconnected Systems:Modelling and Control, Brugge, Belgie, September 16-17, 2009

Harry Trentelman received the annual teaching award 2009 "Teacher of the Year" from theteaching institute of Mathematics.

Arjan van der Schaft was International Program Committee Member of the 3rd IFACConference on Analysis and Design of Hybrid Systems, Zaragoza, September 16-18, 2009.


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Arjan van der Schaft is Member of the Steering Committee of the (Mathematical Theory ofNetworks and Systems Symposium) (Biennial International Conference)

Arjan van der Schaft is Member of the International Program Committee for the 8th IFACSymposium on Nonlinear Control Design (NOLCOS), Bologna, September 1-3. 2010.

Arjan van der Schaft is Member of the International Program Committee for the MTNS 2010,Budapest, July 5-9. 2010.

Arjan van der Schaft is Member of the International Program Committee for the 4th IFACSymposium on Systems, Structure and Control, Ancona, September 15-17, 2010.

The paper 'An approximation method for the stabilizing solution of the Hamilton-Jacobiequation for integrable systems, a Hamiltonian perturbation approach", (Transactions of theSociety of Instrument and Control Engineers (SICE), vol. 43), pp. 572--580, 2007, by N.Sakamoto and A.J. van der Schaft, received the SICE Takeda Best Paper Prize 2008.

General Information

Brief descriptionResearch subjects in brief

M.K. Camlibel: Piecewise affine dynamical systems, switched linear systems.

P.J.C. Dickinson: (PhD student, with M. Dür): Structural properties of copositive optimizationproblems.

M. Dür: Mixed-integer nonlinear optimization. Optimization over convex matrix cones.Copositve programming. Quadratic and binary optimization problems.

A. Dijksma: Operator theory with applications to Schur analysis (interpolation and rigidityproblems) and approximation in varying spaces with indefinite metrics of singular differentialoperators by regular ones.

S. Fiaz: (PhD student with H.L. Trentelman): Control by interconnection, stability analysisand synthesis, robust stabilization; rational representations.

S. Gottimukala: (PhD student with H.L. Trentelman): Rational representations; stabilityanalysis of uncertain behavioral systems.

Ha Binh Minh: (PhD student with H.L. Trentelman): Model reduction in a behavioral context;approximation of dissipative systems by dissipative systems of lower complexity.

D. Kaba: (PhD student with M.K. Camlibel): Invertibility of switched linear systems.

F. Kerber: (PhD student with A.J. van der Schaft): Compositional analysis, bismulationequivalence, and control of linear and hybrid systems. Assume-guarantee reasoning.

Q.T. Le: (PhD student with M.K. Camlibel): Well-posedness and controllability of piecewiseaffine systems.

N. Monshizade: (PhD student with H.L. Trentelman, M.K. Camlibel): Model reduction ofpiecewise affine systems.

R. Polyuga: (PhD student, with A.J. van der Schaft): Model reduction of linear port-Hamiltoniansystems. Structure preserving model reduction by balancing and Krylov methods.

M. Seslija: (PhD student with J.M.A. Scherpen and A.J. van der Schaft):

J. K. Sponsel: (PhD student with M. Dür): Copositive approaches to graph theoretic problems.


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H.L. Trentelman: Control in a behavioral setting; pole placement and stabilization byinterconnection, implementability of system behaviors, synthesis of dissipative systems;robust stabilization, systems described by linear PDE's, model reduction and approximationin a behavioral context, model reduction of piecewise affine systems.

A.J. van der Schaft: Geometric network modeling, analysis and control of complex engineeringsystems. Network dynamics. Nonlinear systems and control theory. Compositional modelling,analysis and control of switching and hybrid systems.

A.Venkatraman: (PhD student with A.J. van der Schaft): Control of port-Hamiltonian systems.Design of observers for nonlinear port-Hamiltonian systems. Passivity-based control andcontrol by interconnection.

H. Vinjamoor: (PhD student with A.J. van der Schaft}: Control by interconnection up tobisimulation and asymptotic bisimulation. Regular feedback achievability.

DISC projects

NWO-STW funding

The project "Energy-efficient design and control of mobile robotic sensornetworks" (ROSE), with applicants A.J. van der Schaft, J.M.A. Scherpen(ITM, RUG), S. Stramigioli (University of Twente), was funded within theSTW Perspective Programme (Autonomous Sensor Systems}.

Sponsored by:

DISC projects

Ongoing workProgram description

General introduction

Mathematical systems and control theory deals with the mathematical modeling, analysisand control of open systems evolving in time. The dynamics are described by ordinary orpartial differential equations, or can be of a discrete nature.The dynamics is not only soughtto be analyzed, but to be influenced (it controlled) and optimized as well by the addition offeedback loops and the interconnection of the open system to other dynamical systems ({\itcontroller design}). Other distinguishing feature is that typically the systems are describedby {\it under-determined sets of differential equations}. Hence there are free variables in thesystem description (corresponding to '{\it inputs}') which allow for two-sided interaction withthe environment ({\it open systems}). Finally, the {\it systems point of view} is emphasized,in the sense that large-scale and heterogeneous dynamical systems are approached asbeing the interconnection of smaller system components, where the overall dynamics isdetermined by the dynamics of the components {\it plus} the interconnection ('{\it feedback}')structure. This point of view is prevailing in many areas of engineering, and is receivingincreasing attention in the life sciences (systems and synthetic biology, biological feedbacksystems, etc.).


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Mathematical optimization theory is concerned with the development of solution algorithmsfor mathematical optimization problems. Depending on the structure of objective functionand feasible set, methods involving discrete or nonlinear features have to be developed.Special emphasis is given to nonlinear \emph{quadratic problems} which at the same timeinvolve \emph{binary variables}. These problems have numerous applications in science,engineering and economics. They can be modeled as linear problems over special matrixcones (semidefinite programming), (copositive programming) which permits a new approachto tackle these problems.

noindent

The members of the program have direct collaboration with colleagues working in otherscientific disciplines such as robotics, power systems, mechatronics, economics, managementscience, and systems biology. Furthermore, there is a close local collaboration with thecontrol engineering group at the neighboring Institute for Industrial Engineering andManagement.

Modeling and control of multi-physics systems as port-Hamiltonian systems

Arjan van der SchaftProjectleader:Arjan van der Schaft,Rostyslav Polyuga, Aneesh Venkatraman, MarkoSeslija

Participants:

DescriptionPort-Hamiltonian systems are generalized Hamiltonian systems where

the geometric structure is derived from the interconnection

structure of the complex system.The aim of this work is to provide a systematic mathematicaltheory for the mathematical modelling, analysis and simulation of multi-physics, mixedlumped- and distributed parameter, systems by making explicit the underlying physicalstructure, including energy balances and other conservation laws. Furthermore, theport-Hamiltonian framework is employed for controller design, by attaching controllerport-Hamiltonian systems and shaping the Hamiltonian and other conserved quantities to adesired Lyapunov function for the controlled system, leading to physically inspired and robustcontrol strategies.

Behavioral systems theory and control by interconnection

H.L. TrentelmanProjectleader:Harry Trentelman, Shaik Fiaz, Ha Binh Minh, Harsh Vinjamoor, Arjan vander Schaft

Participants:

RUG, NWOSponsored by:

Ongoing workThe traditional way of modeling dynamical systems that interact with their environment isby an input-output map. However, physical systems in general

do not exhibit the information flow direction that is pre-supposed by the input-output structure.In the behavioral approach, all external system variables are therefore a priori treated onan equal footing, while the mathematical model specifies a subset of the set in which theexternal variables take their values as being possible. This subset is called the behaviourof the system. Many modeling and control questions are fruitfully studied in this novel setting.


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Although most of the research aims at linear differential systems it also provides inspirationfor nonlinear and hybrid dynamical systems.

Analysis and design of piecewise-affine and hybrid dynamical systems

K. CamlibelProjectleader:Kanat Camlibel, Thuan Quang Le, Devrim Kaba, Nima Monshizadeh, Arjanvan der Schaft, H.L. Trentelman, Florian Kerber

Participants:

DescriptionHybrid systems} are a mixture of interacting continuous and discrete dynamics, and arisenaturally in embedded systems and physical systems modeling. Important research issuesconcern the systematic modelling of complex hybrid systems, the analysis of hybrid systemsand their solution trajectories, the development of compositional reasoning techniques, theanalysis of structural properties of controllability and stabilizability, and the design ofcontrollers. From a mathematical point of view hybrid systems necessitate the merging ofconcepts and tools from continuous dynamics with those from discrete dynamics, thus linkingto formal verification tools from computer science. The mathematical analysis ofpiecewise-affine and hybrid systems is heavily intertwined with optimization theory andnon-smooth analysis.

Mathematical optimization theory

M. DürProjectleader:Mirjam Dür, Peter Dickinson, Julia SponselParticipants:

DescriptionMathematical optimization theory is concerned with studying structural properties anddeveloping solution methods for mathematical optimization problems. The focus is oncombinatorial problems and on nonconvex quadratic optimization problems. The studiedmethodology is to transform the problem into a higher dimensional matrix space, permittingto move the difficult constraints (quadratic and/or binary) entirely into a certain cone constraint.This leads to copositive and semidefinite programming

Schur analysis and operator theory in spaces with indefinite metric

A. DijksmaProjectleader:A.DijksmaParticipants:

DescriptionSchur analysis and operator theory in indefinite metric spaces} deals with the extension ofclassical Schur analysis, in particular interpolation problems and the properties of thegeneralized Schur transformation.


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Publications

Other publications

A. Martin, A. Fügenschuh, M. Dür, C. Schönberger, S. Schabel, K. Villforth, "Verfahren zumEinstellen und/oder Optimieren einer einen Gutstoff von einem Schlechtstoff trennendenSortieranlage und Sortieranlage "(Control and Optimization of a sorting plant whichseparates desired and undesired substances). (Deutsches Patent Nr.~10~2008~013~034,issued 17.~9.~2009).

Publications


D. Alpay, A. Dijksma, and D. Volok, “Schur multipliers and De Branges-Rovnyak spaces: themultiscale case”, Operator Theory, bf 61 (1) 2009, 87—118.

D. Jeltsema, A.J. van der Schaft, “Langrangian and Hamiltonian formulation of transmissionline systems with boundary energy flow”, Reports on Mathematical Physiscs, Vol. 63, Nr1, 2009, 55--74.

F. Casta\~nos, R. Ortega, A.J. van der Schaft, A. Astolfi, “Asymptotic stabilization via controlby interconnection of port-Hamiltonian systems”, Automatica, vol. 45, 2009, 1611—1618.

F. Vasca, L. Iannelli, M.K. Camlibel, and R. Frasca, “A new perspective for modeling powerelectronics converters: complementarity framework”, IEEE Transcription on PowerElectronics, 2009, 24 (2):456-468.

H.B. Minh, H.L. Trentelman and P. Rapisarda, “Dissipativity preserving model reduction byretention of trajectories of minimal dissipation”, Mathematics of Control, Signals andSystems, Vol. 21, Nr 3, 2009, 171-201.

H.L. Trentelman, “Positive real and bounded real balanced truncation using Sigma-normalisedcoprime factors”, Systems and Control Letters, Vol. 58, 2009, 871-879.

L. Han, A. Tiwari, M.K. Camlibel, and J.S. Pang, “Convergence of time-stepping schemes forpassive and extended linear complementarity systems”, SIAM Journal on NumericalAnalysis, 2009, 47(5): 3768-3796.

M.E. Dür and N. Nowak, “Packing solar cells on a roof”, Optimization and Engineering, 2009,397—408.

M.K. Camlibel and R. Frasca, “Extension of Kalman-Yakubovich-Popov lemma to descriptorsystems”, Systems and Control Letters, 2009, 58 (12): 795-803.

S. Bundfuss and M.E. Dür: “An adaptive linear approximation algorithm for copositive programs”,SIAM Journal on Optimization, 2009, 30—53.

S. Bundfuss and M.E. Dür: “Copositive Lyapunov functions for switched systems over cones”,Systems and Control Letters, 2009, 342—345.

S. Burer, K.M. Anstreicher and M.E. Dür, “The Difference Between 5 times 5 Doubly Nonnegativeand Completely Positive Matrices”, Linear Algebra and its Applications, 2009, 1539—1552.

S. Fiaz and H.L. Trentelman, “On regular implement ability and stabilization using controllerswith pre specified input/output structure”, IEEE Transactions on Automatic Control, Signalsand Systems, Vol.21, Nr 7, 2009, 1562-1568.


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A. Venkatraman, A.J. van der Schaft, 'Energy shaping of port-Hamiltonian systems by usingalternate passive outputs', pp. 2175--2180 in (Proc. European Control Conference 2009),Budapest, Hungary, August 23-26, 2009.

A.J. van der Schaft, M.K. Camlibel, "A state transfer principle for switching port-Hamiltoniansystems", (Proc. 48th IEEE Conf. on Decision and Control), Shanghai, China, December16-18, 2009.

A.J. van der Schaft, R. Polyuga, "Structure-preserving model reduction of complex physicalsystems ", (Proc. 48th IEEE Conf. on Decision and Control), Shanghai, China, December16-18, 2009.

F. Kerber, A.J. van der Schaft, "Compositional and assume-guarantee reasoning for switchinglinear systems", pp. 328--333 in (Proc. 3rd IFAC Conference on Analysis and Design ofHybrid Systems), Zaragoza, Spain, September 16-18, 2009.

H.Vinjamoor, A.J. van der Schaft, 'On achievable bsimulations for linear time-invariant systems',pp. 794--801 in (Proc. European Control Conference 2009), Budapest, Hungary, August23-26, 2009.

H.L.Trentelman and P. Rapisarda, 'A Behavioral Approach to Passivity and Bounded RealnessPreserving Balanced Truncation with Error Bounds', (Proceedings of the 48th IEEEConference on Decision and Control), Shanghai, China, 2009.

H.L. Trentelman, S. Fiaz and K. Takaba, 'Optimal Robust Stabilization in a BehavioralFramework', (Proceedings of the European Control Conference), Budapest, Hungary,2009 .

H.L. Trentelman, Shaik Fiaz and K. Takaba, 'Small Gain Theorem and Optimal RobustStabilization in a Behavioral Framework', (Proceedings of the 48th IEEE Conference onDecision and Control), Shanghai, China, 2009.

Kerber, A.J. van der Schaft, 'Assume-guarantee reasoning for linear dynamical systems' pp.5015-- 5020 in (Proc. European Control Conference 2009), Budapest, Hungary, August23-26, 2009.

P. Rapisarda and H.L.Trentelman, 'Balanced state-space representations: a polynomial algebraicapproach', (Proceedings of the 48th IEEE Conference on Decision and Control), Shanghai,China, 2009.

R. V. Polyuga, A.J. van der Schaft, 'Moment matching for linear port-Hamiltonian systems', pp.4715--4720 in (Proc. European Control Conference 2009), Budapest, Hungary, August23-26, 2009.

S. Gugercin, R.V. Polyuga, C.A. Beattie, A.J. van der Schaft, "Interpolation-based $H_2$ modelreduction for port-Hamiltonian systems ", (Proc. 48th IEEE Conf. on Decision and Control),Shanghai, China, December 16-18, 2009.

Ph.D. theses

H.B. Minh, Model Reduction in a Behavioral Framework. University of Groningen, TheNetherlands, January 23, 2009. Promotor: H.L. Trentelman.

Other publications

A.J. van der Schaft: Editor-at-Large for (European Journal of Control), Associate Editor for(Systems & Control Letters),Associate Editor for (Journal of Geometric Mechanics)

H.L. Trentelman: Associate editor for (Systems and Control Letters)


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M.K. Camlibel: Subject Editor for the (International Journal of Robust and Nonlinear Control)Mirjam Dür: Member of the Editorial Board of (Journal of Global Optimization) A.Dijksma:Member of the Editorial Board of (Integral Equations Operator Theory) and (ComplexAnalysis and Operator Theory), Member of the Editorial Board of (Complex Analysis andOperator Theory), Member of the Editorial Board of the book series (Operator TheoryAdvances and Applications)


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Universiteit MaastrichtFaculty of Humanities and Sciences

General Information

AddressDepartment of Knowledge Engineering, Universiteit Maastricht, P.O. Box 616, 6200 MDMaastricht, The Netherlands. Phone (secretary): +31–43–3883494. Fax (secretary):+31–43–3884910. E-mail (secretary): [email protected]

Scientific staffprof.dr.ir. R.L.M. Peeters, dr. R.L. Westra, dr. J.M.H. Karel, dr. M. Petreczky (from 1-8-2009)

PhD studentsJ. Heijman MSc., S.M.H. Jansen MSc., drs. I.W.M. Bleylevens, drs. S. Zeemering

Cooperation withINRIA, Sophia-Antipolis, France; Medtronic/Bakken Research Center, Maastricht; AppliedBiomedical Systems, Maastricht; Delft University of Technology; DSM, Sittard; UniversityCollege Cork, Cork, Ireland; CWI, Amsterdam; Maastricht Instruments, Maastricht; Sappi,Maastricht; Academic Hospital, Maastricht; Leibniz Institute, Jena, Germany; RWTH Aachen,Germany;Wageningen University;Twente Medical Systems, Enschede; Universiteit Hasselt,Belgium; Washington State University, St. Louis (Mo.), USA.

KeywordsMathematical modeling; model parameterization; canonical forms; parameter estimation;time series analysis; signal and image processing; wavelet analysis; identification;identifiability; systems biology; genetic network modelling; biomedical engineering; modelapproximation; model reduction; computer algebra; lossless systems; polynomial models;behavioral approach to systems theory; global optimization; multidimensional systems;numerical methods.

Brief descriptionTheoretical research of the Systems and Control group of the UM is in the areas of systemidentification, control theory, model parametrizations and canonical forms, and the use ofcomputer algebra in systems theory. This research is addressed in more detail below. Theresearch activities directed towards applications are concentrated in biomedical engineering,process industry and genetics. Most of this research concerns contract research and iscarried out in co-operation with national and international institutes and industry. In the areaof biomedical engineering, a current research topic involves signal analysis of cardiac signals(such as ECGs). This is performed using wavelets, with the purpose to detect and classifyvarious types of arrhythmia and to identify ischemic heart tissue. Other ongoing researchtopics in this area concern: single heart cell models of electrical activation, gene regulatorynetwork modelling, and image processing for eye movement analysis and balance disorders.In co-operation with process industry, methods are developed for data validation and datareconciliation, e.g. for the chemical industry, paper industry, ceramics industry and cementindustry. Also, methods are developed for computer vision applications for quality controland printing defect classification.


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DISC projects

System identification and parametrization of model classes

R.L.M. PeetersProjectleader:B. Hanzon (UCC, Cork, Ireland); M. Olivi (INRIA, Sophia-Antipolis, France)Participants:

DescriptionResearch in the area of system identification is conducted from a differential-geometric pointof view. The topological and differentiable manifold structure of a number of model classesis investigated. The distance between systems, as a measure for the difference in systembehavior, is quantitatively expressed by a Riemannian metric.There are different meaningfulRiemannian metrics, such as induced L2-metrics and the Fisher metric, which uses theFisher information matrix.These Riemannian metrics are used to enhance the performanceof classical iterative gradient methods for parameter estimation. Such Riemannian gradientmethods can, more generally, be used for function optimization over manifolds too. Relatedissues concern the development of parametrizations for various classes of linear systems,in particular the construction of atlases of overlapping parametrizations that can be usedwithin this differential-geometric approach towards identification. Currently, attention isfocused on multivariable stable all-pass systems and AR systems for which balancedparametrizations and parametrizations based on Schur parameters are considered. Importantrelated topics of interest are model reduction and model approximation. Other applicationsof all-pass systems are in parameterizing classes of orthogonal wavelets for the purpose ofwavelet design.

Algebraic methods in systems theory

R.L.M. PeetersProjectleader:B. Hanzon (UCC, Cork, Ireland), M. PetreczkyParticipants:I.W.M. BleylevensPhD students:

DescriptionProblems that require exact or symbolic solution are being studied with the help of constructivealgebra and methods from symbolic computation. In the past, this involved the solution ofLyapunov and Sylvester equations and the computation of Fisher information matrices.Current research focuses on the analysis of identifiability questions, the parametrization ofclasses of systems and methods for computing global minima of polynomial and rationaloptimization criteria, such as the H2 criterion. An important research area is that of hybridand switched linear systems, for which realization theory is developed, identifiability questionsare analyzed and identification methods are developed. Other applications under investigationrelate to the abovementioned differential-geometric approach towards system identification,where the investigation of properties of Riemannian metrics, Riemannian manifolds andidentification methods (e.g., curvature and chart selection strategies) may heavily rely onthe use of computer algebra software.


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Biomedical engineering and systems biology

R.L. WestraProjectleader:R.L.M. Peeters (UM); J.M.H. Karel (UM); W.A. Serdijn (Delft University ofTechnology);

Participants:

J. Heijman, S.M.H. Jansen, S. Zeemering;PhD students:tULSponsored by:

DescriptionIn co-operation with biomedical engineering industry and the UM academic hospital, severalresearch projects are conducted. One current line of interest in biomedical engineeringconcerns the analysis of cardiac signals by means of several filtering techniques, includingwavelet-based multi-resolution analysis. This research was carried out in the STW-fundedproject “Biomedical signal processing platform for low-power real-time sensing of cardiacsignals” (BioSens), in co-operation with Delft Univ. Tech. and Medtronic/BRC. This projectconcluded in 2009 with the PhD defense of J.M.H. Karel. Two other projects started inautumn 2007, one concerning the development of single heart cell models of electricalactivation (in co-operation with Washington State University in St. Louis (Mo.)), the otherstudying balance disorders through real-time image processing of eye movements.

In the area of genetics and bio-informatics, research is directed towards the analysis of geneexpression data as obtained from micro-array experiments. One objective is to determineclusters of genes which exhibit similar expression patterns over time and which may befunctionally related. A second objective is to develop system theoretic models for geneticinteraction and to determine gene regulatory networks and associated genetic pathways.

Publications


Decker, K.F., J. Heijman, J.R. Silva, T.J. Hund, Y. Rudy; Properties and ionic mechanisms ofaction potential adaptation, restitution, and accommodation in canine epicardium; Am.J. Physiol. Heart. Circ. Physiol., 296 (4), 2009, H1017-H1026


Bertens, E., R. Fabel, M. Petreczky, D.A. van Beek, J.E. Rooda; Supervisory control synthesisfor exception handling in printers; Proceedings of the Philips Conference on Applicationsof Control Technology (PACT-09), Hilvarenbeek, Netherlands, 3-4 February 2009

Elhamifar, E., M. Petreczky, R. Vidal; Rank Tests for the Observability of Discrete-Time JumpLinear Systems with Inputs; Proceedings of the 2009 American Control Conference, St.Louis, Mo, USA, 10-12 June 2009

Hanzon, B., M. Olivi, R.L.M. Peeters; Subdiagonal Pivot Structures and Associated CanonicalForms under State Isometries; Proceedings of the 15th IFAC Symposium on SystemIdentification (SYSID 2009), St. Malo, France, 6-8 July 2009

Karel, J.M.H., R. Houben, R.L. Westra, W.A. Serdijn, S.A.P. Haddad, R.L.M. Peeters; Abiomedical signal processing platform for low-power real-time sensing of cardiac signals(BioSens); Proceedings of the 2nd Dutch Conference on Bio-Medical Engineering, Egmondaan Zee, 22-23 January 2009


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Karel, J.M.H., R. Senden, R.L. Westra, H. Savelberg, R. Vegt, K. Meijer; Detecting near fallsfrom accelerometer data using orthogonal wavelets; Proceedings of the XXII Congressof the International Society of Biomechanics, Cape Town, South Africa, 5-9 July 2009

Nemcova, J., M. Petreczky, J.H. van Schuppen; Realization Theory of Nash systems;Proceedings of the 48th IEEE Conference on Decision and Control (CDC), Shanghai,China, 16-18 December 2009

Peeters, R.L.M., M. Olivi, B. Hanzon; Balanced realization of lossless systems: Schurparameters, canonical forms and applications; Proceedings of the 15th IFAC Symposiumon System Identification (SYSID 2009), St. Malo, France, 6-8 July 2009

Petreczky, M., J.H. van Schuppen; Realization Theory of Discrete-Time Linear Hybrid Systems;Proceedings of the 15th IFAC Symposium on System Identification (SYSID 2009), St.Malo, France, 6-8 July 2009

Petreczky, M., P. Collins, D.A.Van Beek, J.H. van Schuppen, J.E. Rooda; Sampled-data controlof hybrid systems with discrete inputs and outputs; Proceedings of the 3rd IFACConference on Analysis and Design of Hybrid Systems (ADHS09), Zaragoza, Spain,16-18 September 2009

Petreczky, M., R. Theunissen, R. Su, D.A. Van Beek, J.H. van Schuppen, J.E. Rooda; Controlof input/output discrete-event systems; Proceedings of the 10th European ControlConference, Budapest, Hungary, 23-26 August 2009

Sawigun, C., M. Grashuis, R.L.M. Peeters, W.A. Serdijn; Nanopower Sampled Data WaveletFilter Design using Switched Gain Cell Technique; Proceedings of the IEEE InternationalSymposium on Circuits and Systems (ISCAS 2009), Taipei, Taiwan, 24-27 May 2009,p. 545-548

Ph.D. theses

Karel J.M.H; A wavelet approach to cardiac signal processing for low-power hardwareapplications; Ph.D. Thesis, Universitaire Pers Maastricht, Maastricht University, 15December 2009

Other publications

Heijman, J., P.G.A. Volders, R.L. Westra, Y. Rudy; A computational model of beta-adrenergicsignaling in cardiac myocytes: local control and rate-dependent action potential effects;Heart Rhythm, 6 (Issue 5-1), 2009, S97-S98

Heijman, J., P.G.A. Volders, R.L. Westra, Y. Rudy; A computational model of beta-adrenergicsignaling in cardiac myocytes: Local signaling and rate-dependent action-potential effects;The Heart Rhythm Society's 30th Annual Scientific Sessions, Boston, 13-16 May 2009

Jansen, S.M.H., H. Kingma, G. Nalbantov, X.H. Nguyen, R.L.M. Peeters; Automatic thresholddetermination for pupil segmentation in video-oculography; Workshop of the School forMental Health and Neuroscience (MHeNS), Maastricht, 9 September 2009

Westra, R.L.; Inference of the Genetic and Proteomic Pathways that Control thebeta-Adrenergic-Induced Electrophysiological Instability in Cardiac Myocytes; Int.Workshop on Integrative Network Inference in Systems Biology, Jena, Germany, 8-9October 2009


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Tilburg UniversityFaculty of Economics and Business AdministrationDepartment of Econometrics and Operations Research

General Information

AddressTilburg University, Department of Econometrics and Operations Research (K527), P.O. Box90153, 5000 LE Tilburg. Phone (secretary): 013–4662340. Fax: 013–4663280. E–mail:[email protected]

Scientific staffdr. J.C. Engwerda, prof.dr. J.E.J. Plasmans (also at University of Antwerp), prof.dr. J.M.Schumacher

Cooperation withTechnical University Eindhoven, University of Groningen, University of Twente, CentralPlanning Bureau (The Hague),

Federal Planning Bureau (Brussels), University of Antwerp, University of Teramo, BeijingUniversity of Technology, INRIA,

University of Liverpool, Gadjah Mada University Yogyakarta.

Keywordsrobust control design, optimal control, time–varying systems, hierarchical systems, hybridsystems, nonsmooth dynamics, dynamic game theory, coalition formation, macroeconomicpolicy design and European monetary union, portfolio selection, risk management, financialmathematics

Brief descriptionThe aim of the project is to develop system–theoretic methods for control and identificationin economics and finance. Most of the participants also take part in the Center for EconomicResearch of Tilburg University.

DISC projects

System Theoretic Methods in Economics

J.M. Schumacher, J.C. EngwerdaProjectleader:J.E.J. Plasmans, P.V. ReddyParticipants:Netspar, Insentif Riset Dasar (Indonesia)Sponsored by:

DescriptionVarious problems arising in economics and finance are analyzed using system–theoreticmethods. The aim is to achieve a better insight into these problems and to find rules foroptimal economic behaviour and risk management.

Subprojects and participants:

Tilburg UniversityFaculty of Economics and Business Administration Department of Econometrics and Operations Research

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a) The interaction of monetary and fiscal policy within EMU (J.C. Engwerda, J.E.J. Plasmans)

b) Nonsmooth dynamics and complementarity (J.M. Schumacher)

c) Risk measures in multiperiod financial models (J.C. Engwerda, J.M. Schumacher)

d) Dynamic game theory (J.C. Engwerda, J.M. Schumacher, P.V. Reddy)

e) Open-loop LQ Game Descriptor Systems and Application on Monetary Cooperation inASEAN (J.C. Engwerda, J.M. Schumacher; joint project with Gadjah Mada University)

Ongoing work

The interaction of monetary and fiscal policy within EMUThe transmission and interaction of national fiscal policies and monetary policy of theEuropean Central Bank in the European Monetary Union are analysed using a dynamicgames approach. A special focus is on how coalitions among fiscal and monetary authoritiesare formed and on the effects these coalitions have on the stabilization of output and prices.In particular, the consequences for these issues are studied of different institutional contextsin which policy makers may act.

Risk measures in multiperiod financial modelsThis work is concerned with the construction of strategies that minimize the risk in a givenfuture liability. We develop an axiomatic framework in which the degree of acceptability ofa given position (given a certain amount of compensation) can be formulated, taking intoaccount the possibility of hedging against possible adverse developments.

Nonsmooth dynamics and complementarityThis research project is concerned with nonsmooth dynamical systems. Such systems occurfrequently both in engineering and in optimization. Methods from system theory can beapplied to study issues such as existence and uniqueness of solutions, controllability, andstabilizability.

Analysis of Dynamic GamesThis project involves the development of system theoretic tools to analyse dynamic games.In particular games within a linear quadratic setting are studied.

Publications

Book chapters/parts

Bemporad A., Çamlıbel M.K., Heemels W.P.M.H., van der Schaft A. J., Schumacher J.M., andDe Schutter B., Further switched systems, Chapter 5 in: Lamnabhi-Lagarrigue F. andLunze J. (eds.), Handbook of Hybrid Systems Control. Theory, Tools, Applications,Cambridge University Press, 2009.

Engwerda J.C., 2009. Linear quadratic differential games: an overview. In: Advances in DynamicGames and their Applications, Eds. Bernhard P, Gaitsgory V. and Pourtallier O.,Birkhauser, Boston, pp. 37-71.


Dai R. and Schumacher J.M., 2009, Welfare analysis of conditional indexation schemes froma two-reference-point perspective, Journal of Pension Economics and Finance, vol. 8,pp. 321-350.

Engwerda J.C. and Salmah, 2009. The open-loop linear quadratic differential game for indexone descriptor systems. Automatica, 45, pp. 585-592.


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Engwerda, J.C., Salmah, and Wijayanti, I.E., 2009. The open-loop discounted linear quadraticdifferential game for regular higher order index descriptor systems. International Journalof Control, vol.82, no.12, pp. 2365-2374.

Plasmans, J., Engwerda, J., Aarle, B. van, and Michalak, T., 2009. Analysis of a monetaryunion enlargement in the framework of linear-quadratic differential games. InternationalEconomics and Economic Policy, vol.6, no.2, pp.135-156.

Schumacher J.M., 2009, Time-scaling symmetry and Zeno solutions, Automatica, vol. 45, pp.1237-1245.


Engwerda, J.C., Salmah, and Wijayanti, I.E., 2009. The (multi-player) optimal linear quadraticfeedback state regulator problem for index one descriptor systems. Proc. EuropeanControl Conference, 2009, Budapest, CDROM.

Other publications

Engwerda J.C., Michalak T. and Plasmans J.E.J., 2009, Strategic interactions between fiscaland monetary authorities in a multi-country new-Keynesian model of a monetary union,CESIFO, WP.no.2534.

Engwerda, J.C., Salmah, and Wijayanti, I.E., 2009. The open-loop discounted linear quadraticdifferential game for regular higher order index descriptor systems CentER DP 2009-01,Tilburg University, The Netherlands.

Roorda B. and Schumacher J.M., 2009, Time consistency of nonconvex risk measures, NetsparDiscussion Paper 01/2009-006.


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Wageningen Universiteit.Departement Agrotechnologie en Voedingswetenschappen,leerstoelgroep Meet-, regel- en systeemtechniek

General Information

AddressWageningen University, Systems and Control Group, Bornse Weilanden 9, 6708 WGWageningen, The Netherlands. Phone: 0317 - 483331 / 482124. Fax: 0317 - 484957. E-mail:[email protected]

Scientific staffProf. dr. ir. G.P.A. Bot (emeritus from March 1 2006), Dr.ir. A.J.B. van Boxtel, Dr.ir. K.J.Keesman, Dr. ir. W.K.P. van Loon, Dr.ing. R.J.C. van Ooteghem M.Sc., Dr.ir. J.D. Stigter(untilMay 2009), Prof.dr.ir. G. van Straten, Dr.ir. L.G. van Willigenburg.

Technical and administrative staffIng. C.J. van Asselt.

PhD studentsJ.A. Atuonwu MSc, ir. T. Bakker, ir. H.J. Cappon, ir. X. Jin, ir. J.B.M. Klok, J. Omony M.Sc.,ir. P.M. Slegers, ir. N.E. Stein.

Cooperation withPlataforma Solar, Almeria (E); KU Leuven, Heverlee (B); University of Hohenheim, TropicalFarm Technology (D); Technische Universität Berlin, Department of Building Technologyand Design, Berlin (D); Caja Rural Intermediterranea, Estation Experimental “LasPalmerias”,(E); Bogor University, Bogor (Indonesia); Diponegoro University, Semaring(Indonesia); IIASA, Laxenburg (A); ICAM (Integrated Catchment Assessment ansManagement Centre), ANU, Cranberra (Australia);

Applikon, Schiedam; Siemens Nederland, Den Haag; Plant Research International,Wageningen; Agrotechnology & Food Innovations, Wageningen (v/h IMAG/ATO); BusinessUnit Glastuinbouw, Bleiswijk; Hydrion BV, Wageningen; CAPE-platform; Alterra, Wageningen;NVI, Bilthoven; TU Delft, Delft Institute of Applied Mathematics; Univ. Twente, Systems,Signals and Control group, Department of Applied Mathematics; Univ. Maastricht, FaculteitWiskunde; Innovation Handling, Eindhoven; KWR, Niewegein; PRIVA Hortimation, De Lier;Hortimax, Pijnacker;Witteveen + Bos, Deventer;Wetsus, Leeuwarden; Ebbens Engineering,Lochem;

Shell Global Solutions International; Ecofys Netherlands BV.

KeywordsEnvironment, climate control, food processing, agriculture, greenhouses, modelling,identification, systems theory, control system synthesis, optimal control, neural networks,fuzzy control.

Brief descriptionThe chair on Systems and Control develops and applies systems and control methodologyto study the behaviour of dynamical systems in the bio- and agro- sciences, and to realiseautomated systems in the agro-, environmental and food industry. In our research we try to

Wageningen Universiteit.Departement Agrotechnologie en Voedingswetenschappen, leerstoelgroep Meet-, regel- en systeemtechniek

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link theory and practice, ideally to the benefit of both. The work is organized according to amatrix structure, with disciplinary topics as rows and application areas as columns. Majordisciplinary topics are systems theory and robust control, optimal control, system identification,model building and AI, and uncertainty assessment. Major application fields are agriculturalengineering, indoor climate, water and environment, and food process control.The commonfactor in much of our work is the focus on control for profitability, which we try to achieve bystudying optimal dynamic operation methods. The chair group is part of the Department ofAgrotechnology and Food Sciences.

DISC projects

Systems and Control Applications in Agriculture

L.G. van WilligenburgProjectleader:L.G. van Willigenburg, G. van StratenParticipants:

DescriptionThe aim of this project is to study the applicability of systems and control theory in agriculturalengineering and related fields. Major topics are robust control, optimal control, non-linearidentification (AI), and modelling, with an emphasis on agricultural engineering applications.

This project also serves as a breeder place for new projects.

Ongoing workThis is reported in the separate project descriptions under:

• Intelligent Autonomous Weeder (Bakker, van Asselt, van Straten)• Optimal Digital Control (van Willigenburg)

Intelligent Autonomous Weeder

C.J. van AsseltProjectleader:J. Bontsema, G. van StratenParticipants:T. BakkerPhD students:WURSponsored by:

DescriptionThe purpose of this PhD project is to replace manual weeding in organic farming by anautonomous device on field level. One of the main limiting factors for the expansion of organiccrop farming is the large amount of labour required for intra-row weeding. Besides the highcosts of the labour, labour is difficult to obtain, partly because of its low level nature.Automation of intra-row weeding could mean a stimulus for organic crop farming.

Ongoing workThe design of the intelligent autonomous weeder was performed using a structured designapproach. It resulted into a vehicle with a diesel engine, hydraulic transmission, four-wheeldrive and four wheel steering. Also a system for vision based row detection for sugar beetwas developed for autonomous navigation with the weeding robot.

Field trials showed that the robot is able to navigate in a field using RTK DGPS with anaccuracy of a few centimetres. Also the robot is able to perform automated headland turns


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and to map the crop rows by combining vision based row detection with GPS positionmeasurement.

The project has come to an end with the PhD graduation of Tijmen Bakker in February,2009. Several journal publications have also been realized.

Optimal Digital Control

L.G. van WilligenburgProjectleader:L.G. van WilligenburgParticipants:

DescriptionThis project is the current realization of a project with a wider scope that includes digitaloptimal control, reduced-order control, adaptive control and model predictive control (recedinghorizon control).The application areas are indoor climate control (greenhouses and stables),robot control, automatic guidance of agricultural field machines and the control of processesin the food industry (sterilization, drying). The aim of this project is to develop generalmethodologies for the synthesis of optimal digital controllers for non-linear systems.

Ongoing workOur recent research concerning optimal reduced-order LQG controller synthesis for nonlinearsystems tracking optimal trajectories triggered a reinvestigation of the controllability,reachability, observability and reconstructability of time-varying linear systems in bothcontinuous and discrete-time. This led to the development of the differential Kalmandecomposition in continuous-time and the j-step, k-step Kalman decomposition indiscrete-time. These decompositions reveal and establish the temporal changes ofreachability/controllability and observability/reconstructability. The linearised system aboutoptimal trajectories may be temporarily uncontrollable and/or temporarily unreconstructable.During these periods the LQG compensator is partly ineffective. This may lead to closedloop instability. To establish the latter temporal stability and temporal stabilizability are keyproperties. These properties have never been considered before. Their establishment anddetection are currently under study.

Digital LQG compensator design relies on linearised system dynamics about optimaltrajectories. Unless the system dynamics are simple computation of the linearised dynamicsmust be performed numerically, using finite differences.This computation may be inaccurateand requires the choice of suitable perturbations. Automatic differentiation is an attractivealternative because it is highly accurate, more efficient, and does not require the choice ofperturbations. In continuous-time implementation of automatic differentiation to obtain thelinearised dynamics is more or less straightforward. It was successfully carried out by a Mscstudent. Digital optimal control requires the establishment of an equivalent discrete-timelinearised dynamics. Initially this seemed to prevent the use of automatic differentiation. Butit turns out that, like in continuous-time, it can be used to improve both the accuracy andefficiency of this computation while preventing the need for the selection of suitableperturbations. Currently we are preparing a publication on this topic.

Simple practical and theoretical examples that illustrate the potential problems associatedto the temporal loss of properties like controllability and stability are also under study. It turnsout that replacing some of the deterministic parameters of a linear system by white parametersmay relieve the control problems. Last year we submitted a publication that unifies the designof controllers based on linearised dynamics about optimal trajectories. The unificationconcerns both discrete and continuous-time as well as deterministic and white stochasticsystem parameters.


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Optimal control and LQG compensation require a reasonably well established dynamicsystems model. If such a model is not (yet) obtained active adaptive optimal controllers forman attractive alternative. At present an active adaptive controller structure is underinvestigation through its application to benchmarks.The controller structure aims at enablinga cheap, fast and smooth transition from standard to advanced (multivariable optimal) digitalcontrol within industrial environments.

Process Control in Food and Bio Process Technology

A.J.B. van BoxtelProjectleader:A.J.B. van Boxtel, G. van StratenParticipants:

DescriptionAt present, in the food processing and biotechnology industries mostly traditional controlmethods are being applied. However, these methods are limited in their abilities to realizethe increasing demands on product quality, and efficiency and flexibility of the production.As a consequence the significance of high performance process control methods grows.The objective of the project is the development and application of high performance controlmethods and strategies for food processing and bioprocess technology with the aim to (i)improve product quality, (ii) realize flexible operations, (iii) raise process efficiency.

This project serves partly as breeder for new PhD projects.

Ongoing workThe following topics are described as separate projects below:

• Modelling and control of food and biochemical processes (van Boxtel, van Straten)• Energy efficient adsorption drying of healthy food (Atuonwu, Jin, van Boxtel)• Scenario studies for biodiesel production with algae (Slegers, van Boxtel)• GeneNet: System dynamic analysis of gene networks in fungal systems(Omony, van

Boxtel)

Modelling and Control of Food and Biotechnological Processes

A.J.B. van BoxtelProjectleader:A.J.B. van Boxtel, G. van Straten.Participants:

DescriptionThe project aims at exploring novel ways for modelling and control of biotechnologicalprocesses, or at exploring the applicability of methods known from other areas.

Ongoing workDrying

Together with TNO-quality of life an overview on zeolite drying is written for the book series“Modern Drying Technology” part 4 “Energy”, edited by Tsotsas and Mujumdar. Publicationis expected for late 2010.

Together with the chair group Farm Technology drying of lay hen manure on the farm isdebotllenecked. For this purpose on site data is interpreted, and drying characteristics oflay hen manure is characterized by thin layer experiments. A model using these characteristicsshowed the bottlenecks in the system.

Modelling Stem cell cultivation (Higuera)


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In the work on modelling of biological systems we assist the Department on TissueRegeneration of University Twente. In 2009 stem cell cultivation data has been analysed inorder to get more knowledge on the amino acid metabolism. By using a recursive estimatorit was observed that the specific growth rate was not constant during the cultivation period.It was, however, concluded that the variation not responsible for the variation in amino acidproduction and consumption.

Experimental design for algae growth kinetics

Kinetic knowledge is essential to design large scale algae plants. The information aboutkinetics of specific algae strains in the literature is often limited. A quick procedure to obtainthe relevant information is therefore necessary. In a master thesis the potential of parametersensitivity optimisation over an experimental period has been explored.The results revealedfor basic kinetic expressions a strategy to vary the light intensity during the experiment.Withthis strategy the significance of the obtained parameters has been optimised.

Energy efficient adsorption drying of healthy food

A.J.B. van BoxtelProjectleader:A.J.B. van Boxtel, G. van StratenParticipants:J.A. Atuonwu, X. JinPhD students:Senter NovemSponsored by:

DescriptionIn 2009 a new drying project, granted by Senter Novem, was started. This project concernslow temperature adsorption drying, i.e. in the range 10-50°C where conventional dryers haveonly an energy efficiency of 10-25%. The project focuses on drying of food products withcomponents that have a positive effect on health. We look especially for drying of cabbageslike broccoli which contain glucosinolates. If these glucosinolates are well activated duringdrying they can contribute to the prevention of intestine cancer.

In total 3 PhD-students started with their work in 2009. The subprojects concern 1) kineticsof activation and deactivation of glucosinolates, 2) drying strategies to maintain bioactiveglucosinolates, 3) dryer development and control. Subproject 2 and 3 are carried out by theSystems and Control Group, subproject 1 by the chair group Product Design and Quality.

Ongoing workDrying strategies to maintain bioactive glucosinolates (X.Jin)

A spatially distributed model for the drying behavior of pieces of broccoli is derived andprogrammed in the program of Comsol Multiphysics. In this model three elements arecombined:

Moisture transport in the particles is based on diffusion, but instead of the standard Arrheniusexpression for the diffusion coefficient, the free volume theory is used. This theory is basedon physical properties of the product. As such, it takes the effect of product changes on themobility of water during drying into account. For example, the glass transition parametersof the polymeric chains in the product are involved.

For the broccoli model two parts are considered, 1) the highly porous hemispherical floretand 2) the cylindrical stalk. In order deal with the porous structure of the product (especiallythe floret), the free volume theory is combined with a multi-phase model for diffusion inporous media (Maxwell-Eucken theory).


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The model includes the shrinkage phenomena as well.

Dryer development and control (J.A. Atuonwu)

Over the reporting period, lumped and distributed parameter models of the systemcomponents, namely, the adsorber, regenerator, dryer and heat recovery devices have beendeveloped and linked to form an integrated system. These models have been applied in anoptimization scheme that seeks to maximize energy efficiency under constrained temperaturesand moisture contents of selected food products. The constraints are indicative of desiredproduct qualities. Results for a single-stage system show that the system can achieve energyefficiencies around 68% when operated under optimal conditions of regeneration temperature,zeolite and regeneration air flowrates. Energy efficiencies are further doubled when thepotential for heat recovery (both sensible and latent heat) from the regenerator exhaust isexploited.

Scenario studies for biodiesel production with algae

A.J.B. van BoxtelProjectleader:A.J.B. van Boxtel, G. van Straten,Participants:P.M. SlegersPhD students:WetsusSponsored by:

DescriptionMicro-algae have high potential for biotechnology and their application for biodiesel productionis hot! Besides the development of new technology and the quest to understand the behaviourof the organism, the success for algae based biodiesel production is also related with theinteraction of the production systems and their environment. To evaluate the interaction ofdifferent production systems and cultivation technology and to find bottlenecks in theapplications a project on scenario studies was started in 2009.

Ongoing workThe overall performance of the biofuel production process is dependent on many factors:the interaction of the production process with the production chain is just as important asthe quality of the biomass production. Therefore, the performance of the combination of theprocess and chain has to be optimised.

For our approach the production process has been divided into three parts:

cultivation of algae to yield biomass

pre- and post-processing steps necessary for algae cultivation and product formation and

the supply chain that links the algal biofuel production process with the environment of theplant.

The first step of the research was to model different photobioreactors and to simulate biomassproduction under a variety of conditions with these models. These models were used toinvestigate the effect of the decision variables on the quality of the biomass productionprocess.


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GeneNet: System dynamic analysis of gene networks in fungal systems

A.J.B. van BoxtelProjectleader:A.J.B. van BoxtelParticipants:J. OmonyPhD students:graduate school Vlag, IPOP Wageningen UniversitySponsored by:

DescriptionSystems biology is a relatively new field of science aiming at gain deeper insights into thefunctionality of biological systems.This field of study involves computations and simulationsusing mathematical, statistical, biological tools to solve real life biological problems. Thegoals of this project are to improve current techniques and develop new methodologies toquantify performance of genetic networks identification with respect to:

efficient identification of quantitative relationships from limited data sets obtained bytranscriptomics.

the automatic identification of network substructures.

the improvement in genetic network identification by perturbation studies.

Ongoing workThe filamentous fungus Aspergillus niger is used as a model organism for the study in whichtwo regulons AmyR and XlnR are particularly of interest. In silico experiments are on-goingin which genetic networks are simulated using mathematical and statistical computationalmethods. In this work, experimental design for analysis of network dynamics in fungal systemsand the identification and quantification of genetic networks are investigated by desk studies.The experimental simulations involve transient network response by manipulating the networkby altering external conditions. All the above are crucial as they contribute to obtainingnetworks that are as close to the true state of nature as possible. We aim to validate themethods for network reconstruction on wet-lab experimental data.

Work on more methodology development and performance testing is on-going. Results sofar obtained show that the reliability of regression techniques in network reconstruction islimited by the network size and data quality. The larger a network is and the noisier the datais, the poorer the identification results become. Interpolating limited dimensional transcriptomicdata leads to more noise and potentially negatively influences the performance of anidentification approach.

Identification, Prediction and Control of Environmental Systems

K.J. KeesmanProjectleader:K.J. Keesman, J.D. StigterParticipants:

DescriptionThroughout history water has confronted humanity with some of its greatest challenges.Water is a source of life and a natural resource that sustains our environments and supportslivelihoods – but it is also a source of risk and vulnerability. Nowadays, many people all overthe world experience water related threats, as sea level rise, river floods, droughts, terroristattacks, water-borne diseases, poverty and at a local level, desertification, eutrophication,water pollution, etc. At the same time, new developments, e.g. fast (wireless) communication,fast computation and globalization, can be seen. From both these threats and new


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developments, integration of system theoretic tools and water-based systems applicationsfor further insight, better operation, planning and design will be aimed for.

Our objective is to use system theory and information & communication technologies fordata acquisition, data analysis, modelling and decision support, to manage, control anddesign water based systems in a sustainable manner for equitable and efficient use of waterfor many different purposes.


• Electrochemically active bacteriological sensor to detect changes in water quality(Stein, Keesman)

• Acoustic waves for water disinfection, filtration and purification (Cappon, Keesman)• Development of new bioreactor for a process for biological sulphide oxidation (Klok,

Keesman)• Closing cycles in the built environment: Urban Harvest Approach: An urban resource

management approach (Agudelo, Keesman)• Identifiability (Stigter)• Management and control of ecological systems Stigter)

Electrochemically active bacteriological sensor to detect changes in waterquality

K.J. KeesmanProjectleader:K.J. KeesmanParticipants:N.E. SteinPhD students:WetsusSponsored by:

DescriptionIn many situations, and in particular in the production of drinking water, it is desirable tohave an on-line, fast and sensitive sensor that can detect the presence of potentiallyhazardous compounds. The sensor methodology that is the subject of this project is basedon the sensitivity of electrochemically active bacteria to toxins. Because the sensor suppliesan electrical signal, no transducer is needed, and the reading is fast. The robustness andsensitivity of the signal can be influenced by dynamically probing the sensor potential orcurrent. The project aims at developing (dynamic) measurement protocols, in conjunctionwith advanced signal analysis and system identification to optimize both the design as wellas the operation of the sensor.

Ongoing workIn this project a new toxicity sensor is developed for measuring the healthy-state of water.The sensor helps to safeguard the water quality in our environment on the basis ofelectrochemically active bacteria. In the first years a lot of experiments have been conductedat Wetsus (Leeuwarden) as to show a proof of principle and characterize some features ofthe sensor.These measurements are the basis for further analysis with system identificationalgorithms. Hereto, first a model will be developed that will be embedded in thedata-processing algorithms to reduce noise levels in the measurements and estimatenot-measured parameters.The next step is to determine the parameters that indicate toxicityand develop a fault detection algorithm together with a recovery strategy.


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Acoustic waves for water disinfection, filtration and purification

K.J. KeesmanProjectleader:K.J. KeesmanParticipants:H.J. CapponPhD students:Hogeschool Zeeland, WetsusSponsored by:

DescriptionThe objective for acoustic purification research is to develop a laboratory scale acousticseparation unit, which is capable of removing suspended solids, particles from 10 up to 500mu, from polluted water by means of ultrasound.

The work incorporates a numerical-experimental approach, using both computer simulationsand testing on experimental data. It consists of the following steps:

1. Modelling of the separator using Matlab and Comsol software

2. Experimental demonstration of separation principles in air and water

3. Scaling and prototype construction

4. Determination of filtration efficiency

5. Control unit for optimal separation strategy

Ongoing workIn 2009 steps 1 and 2 were the main areas of focus. As a first modeling step, simple analyticalmodels were made with Matlab incorporating the different layers of an ultrasound separationunit.The model is able to calculate acoustic pressures, fluid element velocities and acousticparticle forces on the basis of the material characteristics of the different separator layersand the particle properties.The models were used to study the effects of various parameterson the particle trajectories in the fluid layer. It was shown that particle density and radius donot influence the particle trajectory path (while applying buoyancy forces, but neglectingdrag forces), since the mass influences both the buoyancy and the acoustical forces.Frequency, however, is the main determining parameter in the particle trajectory analysis:for given separator dimensions there exists an optimal frequency at which separation ismost efficient.

Secondly, a dynamic model of a piezo transducer was modeled in Comsol. The model wascoupled to Matlab and parameterized, so that parameter variation and separator optimizationcan be performed with Matlab. The model predicts acoustic pressures - acoustic fluidvelocities and acoustic impedances (admittance). These results are needed for particletrajectory modeling, which is done with Matlab.

Thirdly, a physical separation demonstration unit in air was built and tested successfully. Atthe resonance frequency the particles were consistently separated in three bands, whichare assumed to be the nodal bands of the resonance area.The demonstrator in air, separatingpolystyrene particles, was also modeled in Comsol to show that the modeling strategy withComsol is a feasible one. Nodal lines in the acoustic wave field were simulated with Comsolsimilar to the experimental results.


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Full scale dynamics of biological sulfide oxidation

K.J. KeesmanProjectleader:K.J. KeesmanParticipants:J.B.M. KlokPhD students:Shell Global Solutions InternationalSponsored by:

DescriptionIn biological gas desulphurization, H2S-containing gas is absorbed into an alkaline solution.In the sulfur producing bioreactor, the dissolved sulfide is subsequently oxidized into elementalsulfur under oxygen-limited conditions whilst a part is oxidized to sulfate by a mixed populationof sulfide oxidizing bacteria. In addition, non biological sulfide oxidation occurs merely leadingto the formation of thiosulfate. Formation of (thio)sulfate in the sulfur producing bioreactoris unwanted because it reduces the overall process efficiency and leads to an increasedchemical consumption of e.g. ethanol or H2-gas.

Ongoing workLarge scale mixing is achieved by injection of air, which also serves to introduce oxygen.Due to this dual function a direct coupling exists between fluid mixing and reaction selectivity.Moreover, sulfide and oxygen gradients over the height of the reactor column will play a rolein the overall reactor performance. Due to the complexity of these systems, computationalfluid dynamics (CFD) simulations are needed to study the dominating biological andauto-catalysed non-biological reactions of sulfide and its reaction products together with thehydrodynamic properties of the bioreactor.

Closing cycles in the built environment: Urban Harvest Approach: An urbanresource management approach

K.J. KeesmanProjectleader:K.J. KeesmanParticipants:

DescriptionAccelerating urbanization, increasing scarcity of resources and climate change force us tore-think and redesign urban systems. In a world of cities, it is needed to understand howurban systems function, and how the urban environment can be managed in a sustainableway. A paradigm shift towards closing cycles, by reusing and recycling of resources isneeded. There are many unexplored potentials to minimize impacts and maximize reuseand recovery of resources within urban areas. This research studies water, energy andnutrient cycles of different urban typologies and defines strategies for improvement of urbancycles to achieve self-sustainable urban areas. The urban harvest approach is beingdeveloped on the concept of urban metabolism.

To achieve sustainability goals, it is crucial to find ways to improve urban cycles in quantitativeand in qualitative terms by analyzing spatial and temporal implications, implementingcascading, recycling and multisourcing. For this calculatory models are being developedwith which urban flows of energy, water and nutrients can be quantified and the sustainabilityof scenarios for urban development and design can be evaluated. Inputs of differentdisciplines are needed herein to make scientifically based concepts and tools for optimalurban resource utilization.


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Ongoing workThe project has started at the end of 2009. Initial activities focus on the development ofwater, energy and nutrient mass balances for different urban configurations with differentstrategy scenarios: minimizing, cascading, recycling, reusing and multisourcing.

Identifiability

J.D. StigterProjectleader:J.D. Stigter, K.J. KeesmanParticipants:

DescriptionThe question of identifiability (global and local) is important for every practitioner who seeksto find values for the parameters in his/her model.

Ongoing workThe question of structural identifiability (global and local) is important for every practitionerwho seeks to find values for the parameters in his/her model. Current research focuses onthe application of differential geometry to an augmented system model, including theparametric sensitivities of the model for each of the parameters as an additional state. Thisapproach allows a new method of solving the identifiability question from an interestingperspective. Over the past year the work has been complemented with research on optimalparametric sensitivity control for a hydrological example (Akbari Chianeh).

Management and Control of Ecological Systems

J.D. StigterProjectleader:J.D. StigterParticipants:NWOSponsored by:

DescriptionThe purpose of this project is to contribute to environmental sciences and ecology by theapplication of systems and control theory.This cross-fertilization between seemingly distinctareas of science can be rewarding for both sides.

Ongoing workThis project is conducted in cooperation with the Resource Ecology Group of WageningenUniversity. In a NWO project called TEMBO (which is the word for elephant in many Bantulanguages), elephant movements and densities are studied in the Kruger National Park inSouth Africa.These observations (GPS data from collar tags on the elephant) are processedand used for model development. One of the four PhD students is working on the economicimplications of elephant movements and uses the models for optimisation of managementstrategies that allow maximization of tourist (viewing) benefits (amongst other goals).

Progress has been made with the application of a large spatial distributed model (Savanna)that was used to calculate the effects of adding/removing water points in the park where theanimals can drink.This part of the project is in the final stage now and results of the economicanalysis are in the final stage. Expected defense of the PhD-candidate is 2011.


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Climate and Nutrient Control in Greenhouse Production

G. van StratenProjectleader:G. van Straten, L.G. van Willigenburg, J.D. Stigter, R.J.C. van OoteghemParticipants:

DescriptionIndoor climate in agricultural buildings is usually controlled by heuristic control designs. Theobjective of the project is the development of advanced, intelligent control algorithms forgreenhouses and other agricultural buildings in order to achieve better compliance with everincreasing requirements of energy savings, product quality, environmental protection andeconomy.

This project serves as breeder project for PhD projects.


• Greenhouse Modelling:Ventilation through Screen Crack (van Ooteghem, Bontsema)• Optimal Greenhouse Climate Control (van Willigenburg, van Straten)

Greenhouse Modelling: Ventilation through Screen Crack

van OoteghemProjectleader:van Ooteghem, BontsemaParticipants:via Plant Research International: Ministry of LNV – Energy ProgramSponsored by:

DescriptionWUR Horticulture has designed an on-line ventilation monitoring system in the past, whichis used to advise the horticulturist with respect to the energy loss due to ventilation. Thismonitoring system was found to perform very well, except when the screen was used in thegreenhouse. The system had to be extended to include the influence of the screens.

Ongoing workThe screen is used in periods of low radiation and at night to decrease the heat loss to theenvironment. It divides the greenhouse into two compartments. The ventilation through thewindows mainly influences the upper compartment, while the lower compartment (belowthe screen) is only influenced through the small amount of air exchange through the screencrack that is left open. Some heat and moisture is also exchanged through the screen itself.The model used in the initial version of the monitoring system did not include a screen, andcan therefore not describe the heat loss well if the screen is (partly) closed.

An on-line monitor has been designed that calculates the amount of air exchange throughthe screen, the screen crack and the windows, based on measured data inside and outsidethe greenhouse. With the amount of air that is exchanged, we also know how much energy,and how much water is exchanged. This information can be used to steer the screens andthe windows in a smarter way, which should lead to a reduction of the energy use.

Van Ooteghem has adapted the original model for the on-line ventilation monitoring systemto include the influence of the screens. The new model has been validated with data. Anunknown input observer has been designed to derive the amount of air exchange throughthe screen, the screen crack and the windows based on the measured data. From the amountof air exchange, the amount of energy exchange can be easily derived. The results of thisresearch can be used to explain various processes related to air exchange in the greenhouse.


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This monitor has been tested in practice in 2009. Some conclusions:

The method works for single screens, as well as for the combination of solar and energyscreen.

The heat exchange due to the screen crack is well estimated.

The screen closure has to be 95% or higher to obtain a reduction in the energy loss.

At night the energy saved from closing both the energy screen and the solar screen comparedto only closing the solar screen is very small.

The solar screen has a negative influence on the ventilation with windows, since it blocksthe air exchange between the lower compartment to the upper compartment.

Optimal Greenhouse Climate Control

G. van StratenProjectleader:G. van Straten, L.G. van WilligenburgParticipants:

DescriptionThe aim is to apply optimal control theory and optimal control system design to cropproduction in greenhouses. Research on this topic performed within the system and controlgroup over the last 18 years is being reviewed and summarized for the publication of a bookon this topic.The book (van Straten, van Henten, van Willigenburg, van Ooteghem, ‘OptimalControl of Greenhouse Cultivation’, Francis and Taylor, 2010), is intended to be a referenceon the current state of optimal control in greenhouse control. The book first summarizes thetheory of optimal control, and its application to greenhouse cultivation control. Cultivationcontrol is not just climate control, but includes the control of the crop growth as well. Next,the literature on greenhouse climate and crop control is reviewed.The methodology presentedin the book is based on time scale decomposition. First an dynamic optimization is solvedover the full production season, and next the co-states of the slow crop variables are usedin an on-line receding horizon optimal controller, with essentially the same economic goalfunction as used on the seasonal scale. Three chapters describe real applications of thismethodology: on lettuce, tomato, and a general crop in a solar greenhouse with a heat pumpand an aquifer. Finally, an overview is given of open research issues, and of perspectivesfor practical application of the methodology. It is concluded that the demand for sustainabilitywill make it imperative to apply this kind of optimal control in order to achieve the best possibleresult.

Non-DISC projects

Greenhouse Design for Tropical Lowland in Indonesia

G.P.A. BotProjectleader:G.P.A. BotParticipants:ImpronPhD students:Indonesian government fundsSponsored by:

DescriptionTo design a favourable greenhouse indoor climate for tropical lowland conditions (highirradiation, high temperature, moderate humidity) the physical interaction between in- andoutdoor conditions has to be understood. The project aims at application of special


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greenhouse covering materials combining low thermal load of the greenhouse with hightransmission for Photosynthetic Active Radiation (PAR), driving crop production.

Ongoing workUp till now 2 papers have been published in peer reviewed journals, one is under revisionand one is in preparation. PhD graduation is expected in 2010.

Sustainable Heat Management

A.J.B. van BoxtelProjectleader:R.J.C. van Ooteghem, L.G. van Willigenburg in cooperation with guestscientists Ecofys: S.L. Speetjens, L.A.M. Ramaekers, J.M. Warmerdam)

Participants:

Senter NovemSponsored by:

DescriptionIn the frame of the ‘Kenniswerkersregeling’ guest scientists are conducting cooperativeresearch in a project executed by a consortium of ECN, WU, TU Delft and Ecofys. Theoverall aim of the project is: reinforce the knowledge base about options for affordable, easilyimplementable technologies for much better utilization of the exergetic value of heatproduction for industrial and agricultural applications than is the situation today. In the projectcomponents in cooperation with WU novel methods for adsorption heat exchange, as wellas improvements on the heat budget of greenhouses are investigated. Part of the effortsare directed towards acquisition of funds for more in depth research.

Publications


Abusam, A. & Keesman, K.J. (2009). Dynamic modeling of sludge compaction and consolidationprocesses in wastewater secondary settling tanks. Water Environment Research, (ISSN1061-4303), 81(1), 51-56(6).

ArabHosseini, A., Huisman, W., Boxtel, A.J.B. van & Mueller, J. (2009). Modeling of thin layerdrying of tarragon (Artemisia dracunculus L.). Industrial Crops and Products, (ISSN0926-6690), 29(1), 53-59.

Bakker, T., Asselt, C.J. van, Bontsema, J., Müller, J. & Straten, G. van (2009). Systematicdesign of an autonomous platform for robotic weeding (online first). Journal ofTerramechanics, (ISSN 0022-4898).

Djaeni, M. & Boxtel, A.J.B. van (2009). PhD Thesis Summary: Energy Efficient MultistageZeolite Drying for Heat- Sensitive Products. Drying Technology, (ISSN 0737-3937), 27(5),721-722.

Djaeni, M., Bartels, P.V., Asselt, C.J. van, Sanders, J.P.M., Straten, G. van & Boxtel, A.J.B.van (2009). Assessment of a two-stage zeolite dryer for energy-efficient drying. DryingTechnology, (ISSN 0737- 3937), 27(11), 1205-1216.

Djaeni, M., Straten, G. van, Bartels, P.V., Sanders, J.P.M. & Boxtel, A.J.B. van (2009). Energyefficiency of multi- stage adsorption drying for low-temperature drying. Drying Technology,(ISSN 0737-3937), 27(4), 555-564.

Doeswijk, T.G. & Keesman, K.J. (2009). Linear parameter estimation of rational biokineticfunctions. Water Research, (ISSN 0043-1354), 43(1), 107-116.

Henten, E.J. van, Slot, D.A. van 't, Hol, C.W.J. & Willigenburg, L.G. van (2009). Optimalmanipulator design for a cucumber harvesting robot. Computers and Electronics inAgriculture, (ISSN 0168-1699), 65(2), 247- 258.


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Higuera-Sierra, G., Schop, D., Janssen, F., Dijkhuizen-Radersma, R., Boxtel, A.J.B. van &Blitterswijk, C.A. van (2009). Quantifying in vitro growth and metabolism kinetics of humanmesenchymal stem cells using a mathematical model. Tissue Engineering, (ISSN1076-3279), 15(9), 2653-2663.

Keesman, K.J. & Doeswijk, T.G. (2009). Direct least-squares estimation and prediction ofrational systems: Application to food storage. Journal of Process Control, (ISSN0959-1524), 19(2), 340-348.

Keesman, K.J. & Maksimov, V.I. (2008). On feedback identification of unknown characteristics:a bioreactor case study. International Journal of Control, (ISSN 0020-7179), 81(1),134-145.

Martinho Sampaio, R.M., Keesman, K.J. & Lens, P.N.L. (2009). Monitoring ZnS Precipitation:Estimation, Error Analysis and Experiment Design. Separation Science and Technology,(ISSN 0149-6395), 44(8), 1675- 1703.

Martinho Sampaio, R.M., Timmers, R.A., Xu, Y., Keesman, K.J. & Lens, P.N.L. (2009). Selectiveprecipitation of Cu from Zn in a pS controlled continuously stirred tank reactor. Journalof Hazardous Materials, (ISSN 0304-3894), 165(1-3), 256-265.

Mourik, S. van, Zwart, H. & Keesman, K.J. (2009). Modelling and controller design for distributedparameter systems via residence time distribution. International Journal of Control, (ISSN0020-7179), 82(8), 1404- 1413.

Mourik, S. van, Zwart, H.J. & Keesman, K.J. (2009). Integrated open loop control and designof a food storage room. Biosystems Engineering, (ISSN 1537-5110), 104(4), 493-502.

Speetjens, S.L. & Stigter, J.D. (2009). Psysics Based Model for a Water-Saving Greenhouse(Online first). Biosystems Engineering, (ISSN 1537-5110).

Speetjens, S.L., Stigter, J.D. & Straten, G. van (2009). Towards an adaptive model forgreenhouse control. Computers and Electronics in Agriculture, (ISSN 0168-1699), 67(1-2),1-8.

Stilma, E.S.C., Keesman, K.J. & Werf, W. van der (2009). Recruitment and attrition of associatedplants under a shading crop canopy: Model selection and calibration. Ecological Modelling,(ISSN 0304-3800), 220(8), 1113-1125.

Willigenburg, L.G. van & Koning, W.L. de (2009). Emergence of the second law out of reversibledynamics. Foundation of Physics, (ISSN 0015-9018), 39(11), 1217-1239.


Bakker, T., Asselt, C.J. van, Bontsema, J., Müller, J. & Straten, G. van (2008). Autonomousnavigation in a sugar beet field with a robot. In Proceedings Ageng2008 congress,Hersonissos, Crete, 23-25 June, 2008 (pp. 19). Hersonissos, Greece.

Bakker, T., Bontsema, J., Müller, J., Asselt, C.J. van & Straten, G. van (2009). Simple tunablecontrol for automatic guidance of four-wheel steered vehicles. In C. Lokhorst, J.F.M.Huijsmans & R.P.M. de Louw (Eds.), Book of Abstracts of the Joint InternationalAgricultural Conference, JIAC2009), Wageningen, The Netherlands, 6-8 July 2009.Wageningen: Wageningen Academic Publishers.

Bakker, T., Bontsema, J., Müller, J., Asselt, C.J. van & Straten, G. van (2009). Simple tunablecontrol for automatic guidance of four-wheel steered vehicles. In E.J. van Henten, D.Goense & C. Lokhorst (Eds.), Precision Agriculture '09. Proceedings of the 7th EuropeanConference on Precision Agriculture, Wageningen, the Netherlands, 6-8 July 2009 (pp.833-840). Wageningen: Wageningen Academic Publishers.


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Bakker, T., Bontsema, J., Müller, J., Asselt, C.J. van, Henten, E.J. van & Straten, G. van (2009).Automatic headland turning for four-wheel steered vehicles exploiting the full degrees offreedom. In Tagungsband landtechnik - AgEng 2009, Hannover, Germany, 6 - 7November, 2009 Vol. 2009. VDI-Berichte, (ISSN 0083-5560) (pp. 179-186). Düsseldorf:VDI Verlag GmbH (ISBN 978-3-18-092060-3).

Carson, E., Feng, D.D., Pons, M-N., Soncini-Sessa, R. & Straten, G. van (). Bio- and ecologicalsystems: Challenges, accomplishments and forecasts. In Proceedings of the 17th WorldCongress IFAC, Seoul, Korea, 6-11 July 2008.

Henten, E.J. van, Asselt, C.J. van, Bakker, T., Blaauw, S.K., Govers, M.H.A.M., Hofstee, J.W.,Jansen, R.M.C., Nieuwenhuizen, A.T., Speetjens, S.L., Stigter, J.D., Straten, G. van &Willigenburg, G. van (2009). WURking: a small sized autonomous robot for the farm ofthe future. In C. Lokhorst, J.F.M. Huijsmans & R.P.M. de Louw (Eds.), Book of Abstractsof the JIAC2009, Wageningen, The Netherlands, 6-8 July 2009.Wageningen:WageningenAcademic Publishers.

Henten, E.J. van, Asselt, C.J. van, Bakker, T., Blaauw, S.K., Govers, M.H.A.M., Hofstee, J.W.,Jansen, R.M.C., Nieuwenhuizen, A.T., Speetjens, S.L., Stigter, J.D., Straten, G. van &Willigenburg, L.G. van (2009). WURking: a small sized autonomous robot for the Farmof the Future. In E. J. Henten, D. Goense & C. Lokhorst (Eds.), Precision Agriculture '09: papers presented at the 7th European conference on precision agriculture, Wageningen,The Netherlands, 6-8 July 2009 (pp. 833-840). Wageningen: Wageningen Academic(ISBN 978-90-8686-113-2).

Keesman, K.J. & Khairudin, N. (2009). Linear regressive realizations of LTI state space models.In Preprints of the 15th IFAC symposium on System Identification, Saint-Malo, FranceJuly6-8 2009 (pp. 1668-1673).

Keesman, K.J., Graves, A., Werf, W. van der & Burgess, P. (2009). System Identification inProduction Ecology: from theory to agroforestry practice. In Preprints of the 15th IFACSymposium on System Identification, Saint-Malo, France, July 6-8, 2009 (pp. 1016-1021).

Khairudin, N. & Keesman, K.J. (2009). Linear regression techniques for state-space modelswith application to biomedical/biochemical example. In Proceedings of the 6th ViennaInternational Conference on Mathematical Modelling, Vienna, Austria, 11-13 February2009 (pp. 1513-1520). Vienna: Vienna University of Technology (ISBN978-3-901608-35-3).

Molenaar, J., Keesman, K.J., Opheusden, J.H.J. van & Doeswijk, T.G. (Eds.). (2009).Proceedings of the 67th European Study Group Mathematics with Industry, Wageningen,The Netherlands, 26-30 January, 2009. Wageningen: Wageningen University (ISBN978908585600-9).

Soons, Z.I.T.A., Streefland, M. & Boxtel, A.J.B. van (2009). Towards PAT bioprocess monitoringand control: near infrared and software sensor. In Proceedings of CHEMPOR 2008 4-6September 2008, Braga Portugal. CHEMPOR.

Straten, G. van & Willigenburg, L.G. van (). On evaluating optimality losses of greenhouseclimate controllers. In Proceedings of the 17th World Congr.The International Federationof Automatic Control (IFAC).

Ph.D. theses

Bakker, T. (2009, februari 13). An autonomous robot for weed control : design, navigation andcontrol. WUR Wageningen UR (138 pag.) ([S.l.: s.n.]) (ISBN 9789085853268).Prom./coprom.: Prof dr ir G. van Straten, J. Mueller & Dr. J. Bontsema.

Campen, J.B. (2009, oktober 23). Dehumidification of greenhouses. WUR Wageningen UR(XI, 117 pag.) ([S.l.: s.n.]) (ISBN 9789085854296). Prom./coprom.: Prof.dr.ir. G.P.A. Bot.


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M.Sc. theses

Akbari Chianeh, H., Optimal input design for parameter estimation using parametric sensitivitydynamics. Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Hermanto, M.B., Application of a continuous-discrete recursive prediction error algorithm fortoxicity detection. Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Hermanto, M.B., Identification of algae growth kinetics. Afstudeervak Meet-, Regel- enSysteemtechniek, WUR, 2009.

Khairudin, N., Acoustic waves for water purification: parameter sensitivity and dynamic analysis.Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Khairudin, N., Direct least-squares estimation techniques for non-linear models. AfstudeervakMeet-, Regel- en Systeemtechniek, WUR, 2009.

Lieshout, M.M.T. van, Improving position and heading prediction of an autonomous robot.Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Snoek, J.W., On-line monitoring of energy flows and ventilation rate in greenhouses.Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Steennis, A.R., Modellering van de ruimtelijke lucht en temperatuur verdeling in een semigeslotenkas. Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Vroegindeweij, B.A., Routeplanning voor het autonoom verzamelen van grondeieren.Afstudeervak Meet-, Regel- en Systeemtechniek, WUR, 2009.

Other publications

Bontsema, J. & Ooteghem, R.J.C. van (2009). On-line monitoring energie- en vochtstroom doorschermkier. Rapport / Wageningen UR Glastuinbouw (Ext. rep. 313). Wageningen:Wageningen UR Glastuinbouw.

Boxtel, A.J.B. van, Vos, R.M.H. & Bartels, P.V. (2009). Coupled Adsorption-Dryer Exchange.Wageningen: Wageningen Universiteit.

Spee, R.E., Modeling circadian rhythms in Neurospora crassa. Afstudeervak Meet-, Regel- enSysteemtechniek, WUR, 2009. Afstudeervak Meet-, Regel- en Systeemtechniek, WUR,2009.


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