Advances in the Theory of Control, Signals and Systems with Physical Modeling

1. Front Matter

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2. Electrical and Mechatronical Systems

   1. Front Matter

      Pages 1-1

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   2. Modeling and Control of Multi-Body Mechanical Systems: Part I A Riemannian Geometry Approach

      • Suguru Arimoto

      Pages 3-16

   3. Modeling and Control of Multi-Body Mechanical Systems: Part II Grasping under Rolling Contacts between Arbitrary Shapes

      • Suguru Arimoto

      Pages 17-29

   4. Sliding Mode Control for a High-Speed Linear Axis Driven by Pneumatic Muscles

      • Harald Aschemann, Dominik Schindele

      Pages 31-40

   5. Using Hamiltonians to Model Saturation in Space Vector Representations of AC Electrical Machines

      • Duro Basic, Al Kassem Jebai, François Malrait, Philippe Martin, Pierre Rouchon

      Pages 41-48

   6. Iterative Learning Control Using Stochastic Approximation Theory with Application to a Mechatronic System

      • Mark Butcher, Alireza Karimi

      Pages 49-64

   7. Elimination Theory for Nonlinear Parameter Estimation

      • John Chiasson, Ahmed Oteafy

      Pages 65-75

   8. Controlling Underactuated Mechanical Systems: A Review and Open Problems

      • Zhong-Ping Jiang

      Pages 77-88

   9. Time Scaling in Motion Planning and Control of Tree-Like Pendulum Structures

      • Matthias Krause, Joachim Rudolph, Frank Woittennek

      Pages 89-98

   10. Mechanical Version of the CRONE Suspension

       • Alain Oustaloup, Xavier Moreau

       Pages 99-112

   11. Electrostatic MEMS: Modelling, Control, and Applications

       • Guchuan Zhu

       Pages 113-123

3. Mathematical Tools

   1. Front Matter

      Pages 125-125

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   2. Flatness Characterization: Two Approaches

      • Felix Antritter, Jean Lévine

      Pages 127-139

   3. Nonholonomic Mechanics, Dissipation and Quantization

      • Anthony M. Bloch

      Pages 141-152

   4. Controlled Lagrangians

      • Dong Eui Chang

      Pages 153-159

   5. Compensation of Input Delay for Linear, Nonlinear, Adaptive, and PDE Systems

      • Miroslav Krstic

      Pages 161-178

   6. Boundary Value Problems and Convolutional Systems over Rings of Ultradistributions

      • Hugues Mounier, Joachim Rudolph, Frank Woittennek

      Pages 179-188

   7. Wei-Norman Technique for Control Design of Bilinear ODE Systems with Application to Quantum Control

      • Markku Nihtilä

      Pages 189-199

   8. Interval Methods for Verification and Implementation of Robust Controllers

      • Andreas Rauh, Harald Aschemann

      Pages 201-211

In the 60's, control, signals and systems had a common linear algebraic background and, according to their evolution, their respective backgrounds have now dramatically differed. Recovering such a common background, especially in the nonlinear context, is currently a fully open question. The role played by physical models, finite or infinite dimensional, in this hypothetical convergence is extensively discussed in this book. The discussion does not only take place on a theoretical basis but also in the light of two wide classes of applications, among the most active in the current industrially oriented researches: - Electrical and Mechatronical systems; - Chemical Processes and systems appearing in Life Sciences. In this perspective, this book is a contribution to the enhancement of the dialogue between theoretical laboratories and more practically oriented ones and industries. This book is a collection of articles that have been presented by leading international experts at a series of three workshops of a Bernoulli program entitled “Advances in the Theory of Control, Signals and Systems, with Physical Modeling” hosted by the Bernoulli Centre of EPFL during the first semester of 2009. It provides researchers, engineers and graduate students with an unprecedented collection of topics and internationally acknowledged top-quality works and surveys.

• Control
• Control systems
• Differential flatness
• Intelligent sensors
• Lyapunov design
• Optimal control
• Signals
• Stabilization
• Tracking

• CAS, Unité Mathématiques et Systémes, MINES-ParisTech, Fontainebleau, France

  Jean Lévine

• Laboratoire d’ Automatique, Faculté des Sciences de l’Ingénieur Station 9, Lausanne, Switzerland

  Philippe Müllhaupt

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