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Technical Program
Plenary and Semi-Plenaries
Special Education Workshop
Program Listing

Aside from the technical sessions, the CDC is honored to have several distinguished researchers deliver plenary lectures. In addtion, Professor Bozenna Pasik-Duncan has been instrumental in exposing the subject control systems to high-school students. At the CDC in San Diego, she has invited approximately 500 local high school students and teachers to attend a workshop designed specifically to expose them to the subject. On-line listing of program can of course be accessed through PaperPlaza.

CDC Plenaries and Bode Lecture:

Plenaries: Following the lead from the joint CDC-ECC in 2005, we are please to announce two plenaries delivered in parallel. Unlike previous years, please note that plenaries will be delivered "after" the lunch break.

  • A. Stephen Morse. Wednesday December 13, 2006. Douglas ABC
    Plenary Title. Multi-Agent Formations and Sensor Networks
    Plenary Abstract. Current interest in cooperative control of groups of mobile autonomous agents has led to the emergence of a broad range of exciting technical problem calling for the the application of new and well-established control theoretic concepts together with other concepts devised originally for problems within entirely different fields. For example, the problem of maintaining a formation of autonomous agents by locally controlling the distances between each agent and its nearby neighbors cannot be formulated, let alone fully understood, without a 100+ year old concept from the theory of structures, namely the notion of a rigid graph. To understand how a group of agents moving in the plane at the same speed can eventually all end up moving in the same direction by simply adjusting their individual headings to the averages of their neighbors' headings, requires the application of ideas from the theory of non-homogeneous Markov chains, a branch of probability theory which on the surface has nothing to do with the so-called flocking phenomenon just described. Flocking is also a good example of a topic originally motivated by a problem from an entirely different field, in this case statistical physics. Some problems can be addressed using ideas from control which one might at first not expect to be relevant. For example, two-dimensional station keeping which is the problem of maintaining the proper position of a single agent in a two-dimensional formation using only error-prone range sensing, can be addressed in a natural way using well established ideas from switched adaptive control.
       The principal aims of this talk are to explain the role of rigid graphs in formation control, the role of directed graphs and their "compositions" in flocking, and the role of adaptive control in station keeping. As a spin-off of the first topic, we will also explain the connection between rigid graphs and the problem of determining or localizing the positions of sensors in a network using only range data between neighboring sensors and the positions of a small subset of the network's sensors. What these examples will illustrate is that mainstream problems in cooperative control overlap with seemingly unrelated problems in other fields and moreover that approaches to cooperative control can exploit to great advantage concepts devised originally for entirely different purposes.

    Biography. A. Stephen Morse was born in Mt. Vernon, New York. He received a BSEE degree from Cornell University, MS degree from the University of Arizona, and a Ph.D. degree from Purdue University. From 1967 to 1970 he was associated with the Office of Control Theory and Application {OCTA} at the NASA Electronics Research Center in Cambridge, Mass. Since 1970 he has been with Yale University where he is presently the Dudley Professor of Engineering and a Professor of Computer Science. His main interest is in system theory and he has done research in network synthesis, optimal control, multivariable control, adaptive control, urban transportation, vision-based control, hybrid and nonlinear systems, sensor networks, and coordination and control of large grouping of mobile autonomous agents. He is a Fellow of the IEEE, a Distinguished Lecturer of the IEEE Control System Society, and a co-recipient of the Society's 1993 and 2005 George S. Axelby Outstanding Paper Awards. He has twice received the American Automatic Control Council's Best Paper Award and is a co-recipient of the Automatica Theory/Methodology Prize . He is the 1999 recipient of the IEEE Technical Field Award for Control Systems. He is a member of the National Academy of Engineering and the Connecticut Academy of Science and Engineering.

  • Stephen Yurkovich. Wednesday December 13, 2006. Douglas GHI
    Plenary Title. Calibrating the Control Engineer
    Plenary Abstract. When applied to a physical system, a control law needs to be "personalized". It must be adjusted from product to product, family to family. Everyone down the line knows this, from designer to calibrator, to anyone involved with the implementation. So where does the control engineer fit into this scenario? The American Heritage Dictionary doesn't define control engineer, but it does define calibrate: "To check, adjust, or determine by comparison with a standard (the graduations of a quantitative measuring instrument)." If this sounds to you like a typical feedback control loop, then you are on your way to being calibrated.
       This is not another talk on "theory versus application", nor is this talk an attempt to "bridge a gap"; such topics are somewhat stale these days. Rather, in this talk we will explore some atypical topics not often discussed at control systems conferences. To wit, once the control engineer leaves the comfort of Academe a transition must take place from what he or she is taught in the university classroom to recognizing and confronting additional outcome-affecting notions that may be political and/or economical (such as keeping the boss happy, successfully interfacing with other engineers, and minimizing cost). The natural setting for such discussions is in the context of industrial control problems, where often times "control" and "calibration" morph into a single job description. For example, in the cost-sensitive automotive industry, the "calibrator" (who may have no formal control systems training) plays a very important role in making control systems function. The art of calibration has grown as an artifact of the natural and obvious evolution of mechanical controls (that work very well, for example, in automobiles) to electronic computer control. As a result of this evolution, in the automotive industry the control engineer is seeing more and more opportunities to make an impact with elements of control theory. But this is not to say that calibrators and other engineers in the automotive industry are somehow and suddenly "discovering control"; in some sense, because of their knowledge of the plant, they are leading the way.
       Simply put, quite frequently industrial control problems (including many in automotive control) do not look like classical textbook control problems. This is one of the contributing factors behind what seems to be a lack of "control science" as we know it (indeed, as we have taught it) in many production systems and processes. Is it time to re-calibrate?

    Biography. Stephen Yurkovich is a Fellow of the IEEE and holds the rank of Professor of Electrical and Computer Engineering at The Ohio State University. He is Director of the Honda Partnership Program at Ohio State, a program with endowments totaling more than $17M, and is a Senior CAR Fellow at the Center for Automotive Research. In 2000 he was awarded the IEEE Control Systems Society (CSS) Distinguished Member Award, and an IEEE Third Millennium Medal. He has held numerous leadership positions within the IEEE CSS and in conference organization, including General Chair of the 1996 Conference on Control Applications and co-General Chair of the 2005 Conference on Decision and Control. He has served in many offices of the CSS, including Editor-in-chief of IEEE Control Systems 1993-1998, culminating with a term as CSS President in 1999. He has been active in the American Automatic Control Council (AACC), including service as a Director in 1998 and 1999, and service in 1999 as General Chair of AACC's premier event, the American Control Conference. Professor Yurkovich's research has focused on the theory and applications of control technology, in the areas of system identification and parameter set estimation for control, in application areas including automotive systems, industrial control systems, and flexible mechanical structures. His research has been supported by various industrial partners, the National Science Foundation, the Air Force, NASA, DoE and other government agencies. He has been an author on more than 170 technical publications in journals, edited volumes, and conference proceedings. He has authored and co-authored the books Control Laboratory (1992, Kendall/Hunt), Fuzzy Control (1998, Addison-Wesley-Longman), Control Systems Laboratory (Simon & Schuester, 1998), and Control Systems Technology Lab (Pearson/Prentice-Hall, 2003). Professor Yurkovich has been very active in the educational activities of the Center for Automotive Research at Ohio State, through the development of graduate programs in automotive systems and continuing education for control engineers in the automotive industry.

  • Frank Allg÷wer. Thursday December 14, 2006. Douglas ABC
    Plenary Title. The Continuing Joy of Dissipation Inequalities
    Plenary Abstract. Dissipation inequalities play a fundamental role in systems and control theory and dissipativity is a very useful concept in the analysis and design of nonlinear control systems. The idea of dissipativity was introduced in the early 1970s as a generalization of Lyapunov inequalities to systems having inputs and outputs. While Lyapunov functions serve to show the stability of dynamical systems, dissipation inequalities can be applied more widely depending on the choice of the so-called supply rate. Classical special cases being for example the well-known passivity or the $L_2$-norm characterization of nonlinear systems. Like in Lyapunov theory the biggest problem in applications is the construction of a storage function, which is the generalization of the Lyapunov function, that normally require the solution of a partial differential equation. However for the important class of polynominal systems, i.e. systems with polynomial nonlinearities, recent advances in the area of computational semialgebraic geometry, namely semidefinite programming and the sum of squares decomposition, allow a reliable and efficient solution in many cases.

    In this talk we will give a brief historical perspective and an introduction to the system theoretic concept of dissipation inequalities. We will present recent results on the stability analysis of nonlinear differential algebraic equation systems, minimum phase analysis, and nonlinear feedback and observer design that are all based on novel dissipation inequalities and will discuss questions concerning the computation of the storage functions. The methods will be demonstrated and critically assessed with various examples from engineering and systems biology.

    Biography. Frank Allg÷wer is director of the Institute for Systems Theory and Automatic Control and professor in the Mechanical Engineering Department at the University of Stuttgart in Germany.
       He studied Engineering Cybernetics and Applied Mathematics at the University of Stuttgart and the University of California at Los Angeles respectively. He received his Ph.D. degree in Chemical Engineering from the University of Stuttgart. Prior to his present appointment he held a professorship in the electrical engineering department at ETH Zurich. He also held visiting positions at Caltech, the NASA Ames Research Center, the DuPont Company and the University of California at Santa Barbara.    His main research interests are in the development of new methods for the analysis and control of nonlinear systems and the identification of nonlinear systems. His applied research interests range from chemical process control and control of mechatronic systems to AFM control and systems biology. Frank Allg÷wer is Editor for the journal Automatica, Associate Editor of the Journal of Process Control and the European Journal of Control and is on the editorial board of several other journals. He currently serves on the scientific council of the German Society for Measurement and Control, is on the Board of Governors of the IEEE Control System Society, is chairman of the IFAC Technical Committee on Nonlinear Systems and member of the IFAC Policy Committee. He has been organizer or co-organizer of several international conferences and has published over 150 scientific articles. Frank received several prizes for his work including the Leibniz prize, which is the most prestigious prize in science and engineering awarded by the German National Science Foundation (DFG).

  • Lucy Pao. Thursday December 14, 2006. Douglas ABC
    Plenary Title. Control of Flexible Structures: From Large Space Structures to Disk Drive Read/Write Arms
    Plenary Abstract. In the past, manipulators, machine tools, measurement and many other systems were designed with rigid structures and operated at relatively low speeds. With an increasing demand for fuel efficiency, smaller actuators, and speed, lighter weight materials are now often used in the construction of systems, making them more flexible. Flexible structures are also prevalent in space systems where lightweight materials are necessitated for fuel efficiency when carrying the structures into space. Achieving high-performance control of flexible structures is a difficult task, but one that is now critical to the success of many important applications, ranging from the shuttle remote manipulator system, satellites, robot manipulators, gantry cranes, disk drives, to atomic force microscopes. The unwanted vibration that results from maneuvering a flexible structure often dictates limiting factors in the performance of the system.
        We will discuss several issues in both the modeling and control of flexible structures. Depending upon the particular performance goals, such as tracking accuracy in a trajectory following task or rapid settle time for a point-to-point motion, there are different requirements for both the modeling and control. While distributed-parameter models more accurately capture the dynamics of many flexible structures, lumped-parameter models have often been used due to the greater ease of analysis, control design, and implementation. In many applications, the actuators and sensors are separated by the flexible structure, leading to nonminimum phase characteristics that are challenging for control. Over the last few decades, many feedback and feedforward control methods have been developed for flexible structures. We will overview and compare several of these control methods, and we shall close by discussing a number of future challenges.

    Biography. Lucy Y. Pao received the B.S., M.S., and Ph.D. degrees in Electrical Engineering from Stanford University, and she is currently a Professor in the Electrical and Computer Engineering Department at the University of Colorado at Boulder. She has published over 120 refereed journal and conference papers in the areas of control systems (with applications to flexible structures, disk drives, tape systems, and wind turbines), multisensor data fusion, and haptic and multimodal visual/haptic/audio interfaces.
       Dr. Pao has been the recipient of an IFAC World Congress Young Author Prize, a NSF CAREER Award, and an ONR Young Investigator Award. More recent awards include a 2003 Subaru Teaching Excellence Award, the Best Commercial Potential Award at the 2004 International Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, and the Best Paper Award at the 2005 World Haptics Conference.
       Professor Pao has been active in many professional society committees and positions. Recently, she was the Vice Chair for Invited Sessions for the 2003 American Control Conference (ACC), an appointed member of the IEEE Control Systems Society (CSS) Board of Governors (BoG) in 2003, and Program Chair for the 2004 ACC. Selected current activities include serving as an elected member of the IEEE CSS BoG for 2005-2007, on the international program committee for the 2006 International Conference on Information Fusion, and as a primary member of the ASME Dynamic Systems and Control Division Mechatronics Technical Committee.

  • Arthur J. Krener. Friday December 15, 2006. Douglas ABC
    Bode Lecture Title. Model Reduction for Linear and Nonlinear Control Systems
    Plenary Abstract. As the world grows more complicated so do control systems. It can be very hard to simulate and/or to develop intuition for a complex system described by a high dimensional model. Therefore, tools have been developed to approximate a high dimensional model by a lower dimensional one. One goal of such an approximation could be that the input to output map of the lower dimensional model should be a good approximation to that of higher dimensional one. Another goal could be that a controller designed for the lower dimensional model should perform satisfactorily for the higher dimensional one.
       For linear systems there are two approaches, one uses frequency domain methods and involves choosing the lower order transfer function to match the moments of the higher order transfer function at one or more frequencies. The other approach uses state space methods and is based on the singular value decomposition of the Hankel map from past inputs to future outputs.
       Since we are interested in the extension to linear models we shall focus on the latter approach. We shall review the linear and nonlinear literature and offer some new nonlinear methods.

    Biography. Arthur J. Krener was born in Brooklyn, NY on October 8, 1942. He received the BS degree from Holy Cross College in 1964 and the MA and PhD degrees from the University of California, Berkeley in 1967 and 1971, all in Mathematics. Since 1971 he has been at the University of California, Davis and he has been Professor of Mathematics since 1980. Since 2002 he has been a Distinguished Professor of Mathematics. He recently retired from UC Davis to take up a position as Distinguished Visiting Professor at the Naval Postgraduate School, Monterey.
       He has held visiting positions at Harvard University, the University of Rome, Imperial College of Science and Technology, NASA Ames Research Center, the University of California, Berkeley, the University of Paris IX, the University of Maryland, the University of Newcastle, Australia, and the University of Padua. In 2004 he was a Statistical and Applied Mathematical Sciences Institute Fellow and Visiting Professor at North Carolina State University. His research interests are in developing methods for the control and estimation of nonlinear dynamical systems and stochastic processes.
       Professor Krener is a Fellow of the IEEE. His 1981 IEEE Transactions on Automatic Control paper with Isidori, Gori-Giorgi and Monaco won a Best Paper Award. The IEEE Control Systems Society chose his 1977 IEEE Transactions on Automatic Control paper with Hermann as one of 25 Seminal Papers in Control in the last century. He was a Fellow of the John Simon Guggenheim Foundation for 2001-2. In 2004 he received the W. T. and Idalia Reid from SIAM for his contributions to control and system theory.
       Among his many administrative responsibilities, he was Chair of his department for five years when 13 outstanding faculty members were recruited. For three years he served on the Committee on Academic Personnel, which makes the final faculty recommendations on all appointments and promotions at UC Davis. He is the Chair of the SIAM Activity Group on Control and Systems Theory

    Education Workshop:

    Bozenna Passik-Duncan is the chair of the Control Systems Society Committee on Control Education Committee. Major goal of the Committee on Control Education is to promote an increased awareness among students and teachers of the importance and cross-boundary nature of control and systems technology. The Committee has organized similar Workshops for the middle and high schools students and teachers at the major IEEE CSS sponsored conferences. In conjuction with past ACCs and CDCs at, Chicago, Denver, Las Vegas, Maui, Portland, Seville-Spain. The next offering with be at the CDC in San Diego.

    NSF Middle and High School Students & Teachers Workshop:
    The Power, Beauty and Excitement of the Cross-Boundaries Nature of Control
    Wednesday, December 13, 2006 8:30 AM - 3:30 PM, Manchester Grand Hyatt, Douglas Ballroom

    Workshop Sponsors:
       National Science Foundation, USA
       University of Kansas, Lawrence, KS, USA
       The IEEE Control Systems Society
    Workshop Organizers:
       Technical Committee on Control Education of the Control Systems Society (CSS)
       Technical Committee on Education of the International Federation of Automatic Control (IFAC)
       Technical Committee on Control Education of the American Automatic Control Council (AACC)
    Workshop Chair:
       Bozenna Pasik- Duncan, University of Kansas, USA
    Workshop Co-Chair:
       Ljubo Vlacic, Griffith University, Australia

    Program and Speakers:
    The Workshop aims to inspire interest from youth towards studies in Automatic Control and to assist high school teachers in promoting the discipline of Automatic Control among their students. It is composed of several short but effective presentations on various problems from the real world that have been solved by using control engineering methods, techniques and technologies. The attractiveness and excitement of choosing a career in control engineering will also be addressed. Live interaction between the presenters and the audience is to be an important feature of the Workshop.

    Speakers include: Christos Cassandras, Raffaello D'Andrea, Kishan Baheti, Theodore Djaferis, Katsuhisa Furuta, P.R. Kumar, Richard Murray, Bozenna Pasik-Duncan, Mark Spong, Claire Tomlin, Ljubo Vlacic and many more.

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