Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068468
L. Ntogramatzidis, M. Cantoni
The concept of conditioned invariance is extended for the class of 2-D systems described by Fornasini-Marchesini models in the most general form proposed by Kurek. Then, the use of this concept is investigated within the context of estimation in the presence of unknown inputs.
{"title":"Conditioned invariance and unknown-input observation for two-dimensional Fornasini-Marchesini models","authors":"L. Ntogramatzidis, M. Cantoni","doi":"10.23919/ECC.2007.7068468","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068468","url":null,"abstract":"The concept of conditioned invariance is extended for the class of 2-D systems described by Fornasini-Marchesini models in the most general form proposed by Kurek. Then, the use of this concept is investigated within the context of estimation in the presence of unknown inputs.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"164 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116308956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068427
D. Mayne, S. Raković, E. Kerrigan
This paper deals with the problem of parametric piecewise quadratic programming (in which the cost is a piecewise quadratic function of both the decision variable and a parameter) and the problem of parametric piecewise affine quadratic programming (in which both the cost and the constraint depend on a piecewise affine function of the decision variable and a parameter). Parametric programming seeks a solution for each value of the parameter, and can therefore be used to obtain explicit solutions of some constrained optimal control problems where the state is the parameter. The technique of reverse transformation for parametric programming, introduced in earlier papers, is extended to remove unnecessary overlapping of polytopes on which the solution is defined. The improved technique is then employed for the determination, using dynamic programming, of explicit control for linear systems with a piecewise quadratic cost and explicit control of piecewise affine systems with quadratic cost.
{"title":"Optimal control and piecewise parametric programming","authors":"D. Mayne, S. Raković, E. Kerrigan","doi":"10.23919/ECC.2007.7068427","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068427","url":null,"abstract":"This paper deals with the problem of parametric piecewise quadratic programming (in which the cost is a piecewise quadratic function of both the decision variable and a parameter) and the problem of parametric piecewise affine quadratic programming (in which both the cost and the constraint depend on a piecewise affine function of the decision variable and a parameter). Parametric programming seeks a solution for each value of the parameter, and can therefore be used to obtain explicit solutions of some constrained optimal control problems where the state is the parameter. The technique of reverse transformation for parametric programming, introduced in earlier papers, is extended to remove unnecessary overlapping of polytopes on which the solution is defined. The improved technique is then employed for the determination, using dynamic programming, of explicit control for linear systems with a piecewise quadratic cost and explicit control of piecewise affine systems with quadratic cost.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116339091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068372
F. Dorado, J. Normey-Rico, C. Bordons, E. Camacho
This paper presents the application of a Dead-time Compensator Volterra-based Predictive Control (DTCVPC) to the benchmark control problem of the isothermal operation of a continuous stirred tank reactor (CSTR) with Van de Vusse reactions which includes an on-line concentration analyser that introduces a dead time on the process. The proposed controller incorporates a special dead-time compensator structure which allows for robustness improvement with respect to traditional nonlinear MPC in the presence nonlinearities, dead time and dead-time uncertainties. The use of the Volterra models in the optimisation allows for a low cost consuming algorithm.
本文将基于死区时间补偿器voltera的预测控制(DTCVPC)应用于具有Van de Vusse反应的连续搅拌槽式反应器(CSTR)等温运行的基准控制问题，该反应器包括一个在线浓度分析仪，该分析仪在过程中引入了死区时间。该控制器采用了一种特殊的死区补偿结构，在存在非线性、死区和死区不确定性的情况下，相对于传统的非线性MPC，鲁棒性得到了提高。在优化中使用Volterra模型可以实现低成本消耗算法。
{"title":"Dead-time Compensator Volterra Predictive Controller of a Van de Vusse CSTR","authors":"F. Dorado, J. Normey-Rico, C. Bordons, E. Camacho","doi":"10.23919/ECC.2007.7068372","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068372","url":null,"abstract":"This paper presents the application of a Dead-time Compensator Volterra-based Predictive Control (DTCVPC) to the benchmark control problem of the isothermal operation of a continuous stirred tank reactor (CSTR) with Van de Vusse reactions which includes an on-line concentration analyser that introduces a dead time on the process. The proposed controller incorporates a special dead-time compensator structure which allows for robustness improvement with respect to traditional nonlinear MPC in the presence nonlinearities, dead time and dead-time uncertainties. The use of the Volterra models in the optimisation allows for a low cost consuming algorithm.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116466033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068250
C. Bruni, F. Delli Priscoli, G. Koch, I. Marchetti
This paper focuses on Connection Admission Control Problem and it proposes an innovative approach for its solution. Starting from an abstract network modelling, the Resource Management problem is formulated in a technology independent fashion allowing the proposed concepts to be applied to any wireless and wired domain. Basing on appropriate considerations, the authors propose an approach in which CAC procedure is decoupled from the other Resource Management procedures, but still cooperates with them in order to guarantee the desired QoS requirements. Moreover, the proposed CAC control scheme is implemented on a feedback loop on the basis of a convenient optimality criterion aiming to maximize total throughput, while respecting a set of constraints accounting for the QoS requirements. Finally, this approach is based on suitable performance measurements which, by using proper predictors, allow to forecast the domain dynamics in the next future.
{"title":"The connection admission problem in internet networks: An optimal control approach","authors":"C. Bruni, F. Delli Priscoli, G. Koch, I. Marchetti","doi":"10.23919/ECC.2007.7068250","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068250","url":null,"abstract":"This paper focuses on Connection Admission Control Problem and it proposes an innovative approach for its solution. Starting from an abstract network modelling, the Resource Management problem is formulated in a technology independent fashion allowing the proposed concepts to be applied to any wireless and wired domain. Basing on appropriate considerations, the authors propose an approach in which CAC procedure is decoupled from the other Resource Management procedures, but still cooperates with them in order to guarantee the desired QoS requirements. Moreover, the proposed CAC control scheme is implemented on a feedback loop on the basis of a convenient optimality criterion aiming to maximize total throughput, while respecting a set of constraints accounting for the QoS requirements. Finally, this approach is based on suitable performance measurements which, by using proper predictors, allow to forecast the domain dynamics in the next future.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"241 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113998796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068239
A. Lanzon, Yantao Feng, B. Anderson
In this paper, an iterative algorithm to solve Algebraic Riccati Equations (ARE) arising from, for example, a standard H∞ control problem is proposed. By constructing two sequences of positive semidefinite matrices, we reduce an ARE with an indefinite quadratic term to a series of AREs with a negative semidefinite quadratic term which can be solved more easily by existing iterative methods (e.g. Kleinman algorithm in [2]). We prove that the proposed algorithm is globally convergent and has local quadratic rate of convergence. Numerical examples are provided to show that our algorithm has better numerical reliability when compared with some traditional algorithms (e.g. Schur method in [5]). Some proofs are omitted for brevity and will be published elsewhere.
{"title":"An iterative algorithm to solve Algebraic Riccati Equations with an indefinite quadratic term","authors":"A. Lanzon, Yantao Feng, B. Anderson","doi":"10.23919/ECC.2007.7068239","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068239","url":null,"abstract":"In this paper, an iterative algorithm to solve Algebraic Riccati Equations (ARE) arising from, for example, a standard H∞ control problem is proposed. By constructing two sequences of positive semidefinite matrices, we reduce an ARE with an indefinite quadratic term to a series of AREs with a negative semidefinite quadratic term which can be solved more easily by existing iterative methods (e.g. Kleinman algorithm in [2]). We prove that the proposed algorithm is globally convergent and has local quadratic rate of convergence. Numerical examples are provided to show that our algorithm has better numerical reliability when compared with some traditional algorithms (e.g. Schur method in [5]). Some proofs are omitted for brevity and will be published elsewhere.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124494501","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068620
J. Tierno, A. Khalak
Continuous planning is emerging as the leading solution to the problem of planning for systems with significant uncertainty. However, continuous planning can yield unexpected poor performance due to the necessary incompleteness of the system models used for planning. In this paper, we show how the ideas of plan repair and discount factors can be formalized, quantified, and extended to develop robust continuous planners. This is achieved without increasing computational complexity or requiring extensive additional modeling.
{"title":"Control theoretic tools for robust decision planning","authors":"J. Tierno, A. Khalak","doi":"10.23919/ECC.2007.7068620","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068620","url":null,"abstract":"Continuous planning is emerging as the leading solution to the problem of planning for systems with significant uncertainty. However, continuous planning can yield unexpected poor performance due to the necessary incompleteness of the system models used for planning. In this paper, we show how the ideas of plan repair and discount factors can be formalized, quantified, and extended to develop robust continuous planners. This is achieved without increasing computational complexity or requiring extensive additional modeling.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124082574","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068484
T. Van Herpe, Niels Haverbeke, B. Pluymers, G. Van den Berghe, B. De Moor
In this paper we propose a Model based Predictive Controller (MPC) to be used for glycemia control in critically ill patients. A model, that is particularly developed for describing the glucose and the insulin dynamics of these patients, is estimated for each individual patient and re-estimated as new measurements are obtained. Both a quantitative and a qualitative analysis are performed with respect to a real-life dataset from 19 critically ill patients. In the first analysis the robustness of the MPC is tested assuming a once per hour or a once per four hours insulin adaptation frequency is imposed. The second analysis is characterized by a comparison between the MPC insulin infusion sequence and the insulin flows (determined by the nurse) that were effectively administered to the patient. The contribution of this paper is the development of an MPC for glycemia control in the Intensive Care Unit (ICU). The penalty index, which is a specific concept for quantitative analysis of glycemia control in the ICU, is also proposed. The results of the developed MPC are satisfactory both in terms of control behavior (reference tracking and the suppression of unknown disturbance factors) and clinical acceptability.
{"title":"The application of Model Predictive Control to normalize glycemia of critically ill patients","authors":"T. Van Herpe, Niels Haverbeke, B. Pluymers, G. Van den Berghe, B. De Moor","doi":"10.23919/ECC.2007.7068484","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068484","url":null,"abstract":"In this paper we propose a Model based Predictive Controller (MPC) to be used for glycemia control in critically ill patients. A model, that is particularly developed for describing the glucose and the insulin dynamics of these patients, is estimated for each individual patient and re-estimated as new measurements are obtained. Both a quantitative and a qualitative analysis are performed with respect to a real-life dataset from 19 critically ill patients. In the first analysis the robustness of the MPC is tested assuming a once per hour or a once per four hours insulin adaptation frequency is imposed. The second analysis is characterized by a comparison between the MPC insulin infusion sequence and the insulin flows (determined by the nurse) that were effectively administered to the patient. The contribution of this paper is the development of an MPC for glycemia control in the Intensive Care Unit (ICU). The penalty index, which is a specific concept for quantitative analysis of glycemia control in the ICU, is also proposed. The results of the developed MPC are satisfactory both in terms of control behavior (reference tracking and the suppression of unknown disturbance factors) and clinical acceptability.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126363534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068908
L. Pagnotta, L. Zaccarian, A. Constantinescu, S. Galeani
In this paper, a discrete-time anti-windup augmentation scheme is applied to a model of an active suspension system. The model faithfully reproduces the dynamics of an experimental setup available at the Laboratoire d'Automatique de Grenoble and provided by the Hutchinson Research Center. The underlying control system is an adaptive scheme achieving rejection of unknown narrow band disturbances by acting on a piston with the ultimate goal of reducing the resid- ual force on the top of the suspension. Since the piston is subject to magnitude saturation, the control system is prone to windup effects and experiences severe performance loss when large disturbances affect the suspension. The discrete- time anti-windup scheme, consisting in a copy of the plant that augments the controller dynamics, allows to partially recover the unconstrained performance and induces desirable responses for disturbances of different sizes: from very large to very small. Simulation results are reported to illustrate the effectiveness of the anti-windup solution.
本文将一种离散时间抗上卷增强方案应用于主动悬架系统模型。该模型忠实地再现了格勒诺布尔自动化实验室(Laboratoire d’automatique de Grenoble)由哈钦森研究中心提供的实验装置的动力学。底层控制系统是一种自适应方案，通过作用于活塞来实现对未知窄带干扰的抑制，最终目标是减少悬架顶部的剩余力。由于活塞受到幅度饱和的影响，当大的扰动影响悬架时，控制系统容易产生上卷效应，并经历严重的性能损失。离散时间反上弦方案，包括一个增加控制器动力学的装置副本，允许部分恢复无约束性能，并诱导不同大小的干扰的理想响应:从非常大到非常小。仿真结果验证了该解决方案的有效性。
{"title":"Anti-windup applied to adaptive rejection of unknown narrow band disturbances","authors":"L. Pagnotta, L. Zaccarian, A. Constantinescu, S. Galeani","doi":"10.23919/ECC.2007.7068908","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068908","url":null,"abstract":"In this paper, a discrete-time anti-windup augmentation scheme is applied to a model of an active suspension system. The model faithfully reproduces the dynamics of an experimental setup available at the Laboratoire d'Automatique de Grenoble and provided by the Hutchinson Research Center. The underlying control system is an adaptive scheme achieving rejection of unknown narrow band disturbances by acting on a piston with the ultimate goal of reducing the resid- ual force on the top of the suspension. Since the piston is subject to magnitude saturation, the control system is prone to windup effects and experiences severe performance loss when large disturbances affect the suspension. The discrete- time anti-windup scheme, consisting in a copy of the plant that augments the controller dynamics, allows to partially recover the unconstrained performance and induces desirable responses for disturbances of different sizes: from very large to very small. Simulation results are reported to illustrate the effectiveness of the anti-windup solution.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126417416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068630
G. Marro, E. Zattoni
This work deals with the optimization, expressed as the minimization of the l2 norm of the tracking error, of regulation transients caused by instantaneous, wide parameter variations occurring in discrete-time linear systems. The regulated system switching law is assumed to be completely known a priori. A feedback regulator, designed according to the internal model principle, guarantees closed-loop asymptotic stability and zero error in the steady-state condition. The compensation scheme for the minimization of transients includes a feedforward action on both the plant and the feedback regulator and a switching policy for the states of the exosystem and the feedback regulator. The feedfoward action and the state switching policy are computed off-line, by means of a two-level nested algorithm. The lower level includes a sequence of finite-horizon optimal control problems (each one corresponding to a time interval between two subsequent switches), while the upper level combines relevant data from the lower-level problems into a global l2 optimization problem. A substantial feature of this contribution is that the approach to the lower-level problem relies on an original procedure which provides the solution of a discrete-time finite-horizon optimal control problem in closed form as a function of time. Thus, discrete-time intervals with a large number of samples can easily be handled.
{"title":"A nested computational approach for l2 optimization of regulation transients in discrete-time linear parameter varying systems","authors":"G. Marro, E. Zattoni","doi":"10.23919/ECC.2007.7068630","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068630","url":null,"abstract":"This work deals with the optimization, expressed as the minimization of the l2 norm of the tracking error, of regulation transients caused by instantaneous, wide parameter variations occurring in discrete-time linear systems. The regulated system switching law is assumed to be completely known a priori. A feedback regulator, designed according to the internal model principle, guarantees closed-loop asymptotic stability and zero error in the steady-state condition. The compensation scheme for the minimization of transients includes a feedforward action on both the plant and the feedback regulator and a switching policy for the states of the exosystem and the feedback regulator. The feedfoward action and the state switching policy are computed off-line, by means of a two-level nested algorithm. The lower level includes a sequence of finite-horizon optimal control problems (each one corresponding to a time interval between two subsequent switches), while the upper level combines relevant data from the lower-level problems into a global l2 optimization problem. A substantial feature of this contribution is that the approach to the lower-level problem relies on an original procedure which provides the solution of a discrete-time finite-horizon optimal control problem in closed form as a function of time. Thus, discrete-time intervals with a large number of samples can easily be handled.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125570721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-07-02DOI: 10.23919/ECC.2007.7068693
J. Martins, Alexandre N. Paris, J. Sá da Costa
Flexible link manipulators are characterized by a low tip positioning precision due to vibration. To overcome this problem, in this work we implement control schemes that combine feedback control with feedforward control. The use of feedback control of the tip position to reduce the tip vibration typically suffers from non-minimum phase related problems. Therefore, we use feedback control just for joint angle control while the vibration of the end-effector is reduced with feedforward control. Two feedback controllers have been implemented and compared: feedback linearization and sliding mode control. For the feedforward control we use filtering techniques and the input shaping technique. The controllers were tested experimentally on a two joint planar manipulator with a flexible link.
{"title":"Position control of a manipulator with one flexible link","authors":"J. Martins, Alexandre N. Paris, J. Sá da Costa","doi":"10.23919/ECC.2007.7068693","DOIUrl":"https://doi.org/10.23919/ECC.2007.7068693","url":null,"abstract":"Flexible link manipulators are characterized by a low tip positioning precision due to vibration. To overcome this problem, in this work we implement control schemes that combine feedback control with feedforward control. The use of feedback control of the tip position to reduce the tip vibration typically suffers from non-minimum phase related problems. Therefore, we use feedback control just for joint angle control while the vibration of the end-effector is reduced with feedforward control. Two feedback controllers have been implemented and compared: feedback linearization and sliding mode control. For the feedforward control we use filtering techniques and the input shaping technique. The controllers were tested experimentally on a two joint planar manipulator with a flexible link.","PeriodicalId":407048,"journal":{"name":"2007 European Control Conference (ECC)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121601001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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