International Federation Of Automatic Control Research Articles

Thoughts on Furthering the Control Education of Practicing Engineers [Focus on Education]

This article offers insights on teaching practical improvements to control methods to engineers already practicing in the field. Virtually all these engineers have taken an introductory control class (perhaps many years ago) and have some experience with circuitry, programming, and actual control implementations. We argue that the lessons that have the most impact on these engineers are those that tie theoretical insight to methods that they can adapt almost immediately to make their jobs easier. We discuss both the environment of typical practicing engineers and some of the lessons that can immediately make them more effective. An earlier version of this article was presented at the 2019 International Federation of Automatic Control (IFAC) Advances in Control Engineering Conference <xref ref-type="bibr" rid="ref1" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[1]</xref> . This expanded version draws heavily on discussions at the author’s Practical Methods for Real World Control Systems workshops and the companion book <xref ref-type="bibr" rid="ref2" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">[2]</xref> .

G.A. Leonov: eminent scholar, admired teacher and unconventional administrator

Gennady Alekseevich Leonov (1947 – 2018) – Corresponding member of the Russian Academy of Sciences, Foreign Member of the Finnish Academy of Science and Letters, a Council Member of International Federation of Automatic Control, the Highly Cited Mathematician of the Russian Federation, a bearer of many notable awards – passed away on April 23, 2018 after a short battle with a grievous illness. This paper is written in his memory. The authors remember Prof. Leonov as eminent scholar, admired teacher, and unconventional administrator.

An Outline of the Story of Girls in Control and its Success in Motivating Girls Internationally

Gender stereotypes often deter women from pursuing STEM-related studies at secondary and tertiary levels of education. Control engineering in particular is an example of a discipline where women are underrepresented in all stages of academia; from undergraduate students through to faculty and technical board members. The Girls in Control workshop targets 10-to-15-year-old girls and aims to educate them about control engineering at a level that is understandable and engaging to stimulate an interest in STEM. Moreover, the worldwide COVID-19 pandemic resulted in new and innovative ways of collaborating and designing outreach programs. The Girls in Control workshop uses online platforms to provide accessibility to girls worldwide by removing language barriers. The workshop runs in almost 20 different languages and the materials are openly available online. The Girls in Control workshop ran successfully at the 21st World Congress of the International Federation of Automatic Control 2020, the IEEE Conference on Decision and Control 2020, the 2021 American control conference, and the 29th Mediterranean Conference on Control and Automation 2021; all of which ran on virtual platforms. Overall, over 500 girls have participated in the Girls in Control workshops in 19 languages with a large amount of positive feedback. A more advanced, follow-up workshop is being tested where girls are challenged further by tackling problems with disturbances and requiring complex control solutions.

Technical Committee on Nonlinear Systems and Control [Technical Activities]

The IEEE Control Systems Society (CSS) Technical Committee on Nonlinear Systems and Control (TCNSC) aims to advance the development of nonlinear systems and control theory and promote its practical applications. The TCNSC currently has 34 CSS members at all grade levels of IEEE membership, including several members of the editorial board of IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, and the CSS Conference Editorial Board. TCNSC members have also been active as members of the editorial boards of other world-leading academic journals, such as Automatica and the Society for Industrial and Applied Mathematics (SIAM) Journal on Control and Optimization, and in the organization of the IEEE Conference on Decision and Control (CDC), the American Control Conference (ACC), and other major meetings. TCNSC is constantly expanding its membership to better reflect traditional and emerging directions in nonlinear systems and control. TCNSC has held regular meetings at ACC and CDC, with the most recent held at the CDC 2016 in Osaka, Japan, jointly with the International Federation of Automatic Control (IFAC) Technical Committee on Nonlinear Control Systems.

Analysis of rebound effect modelling for flexible electrical consumers

Demand response (DR) will be an inevitable part of the future power system operation to compensate for stochastic variations of the ever-increasing renewable generation. A solution to achieve DR is to broadcast dynamic prices to customers at the edge of the grid. However, appropriate models are needed to estimate the potential flexibility of different types of consumers for day-ahead and real-time ancillary services provision, while accounting for the rebound effect (RE). In this study, two RE models are presented and compared to investigate the behaviour of flexible electrical consumers and quantify the aggregate flexibility provided. The stochastic nature of consumers' price response is also considered in this study using chance constrained (CC) programming. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

A Methodological Approach for Development and Deployment of Data Sharing in Complex Organizational Supply and Logistics Networks with Blockchain Technology

Each manufacturer, supplier, and retailer has its own chain of collaborating stakeholders to meet their customer demands. Many perspectives can be taken like food safety, security, and sustainability, which may each lead to separate solutions that are not necessarily interoperable with each other. Data can only be shared within the context of those solutions and only with extra effort, and thus costs, across these solutions. To address this solution, this paper proposes a methodological approach for specification of data that can be shared with rapid deployment by for instance a blockchain based - or a peer-to-peer infrastructure. The methodological approach is based on basic informatics principles like the Turing machine and ontologies. © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Predictive Energy Management for Electric Variable Transmission HEV

This paper introduces predictive energy management for a hybrid electric powertrain with an electric variable transmission. The optimization of the energy management in hybrid mode is formulated as a bi-level program, in which one static level optimizes the engine speed of a compound unit consists of the engine and electric variable transmission (EVT). The other layer optimizes a dynamic program by splitting power between the compound unit and the battery using equivalent consumption minimization strategy (ECMS). By combining ECMS with dynamic programming (ECMS-DP), the proposed strategy allows the engine on/off control to be also taken into account by iteratively updating the costate. Finally, the efficient ECMS-DP optimization is incorporated into the framework of model predictive control (MPC) and solved in a moving horizon fashion. Computation efficiency and optimization results are presented by simulation. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Robust Fractional Order PI Control for Cardiac Output Stabilisation

Drug regulatory paradigms are dependent on the hemodynamic system as it serves to distribute and clear the drug in/from the body. While focusing on the objective of the drug paradigm at hand, it is important to maintain stable hemodynamic variables. In this work, a biomedical application requiring robust control properties has been used to illustrate the potential of an autotuning method, referred to as the fractional order robust autotuner. The method is an extension of a previously presented autotuning principle and produces controllers which are robust to system gain variations. The feature of automatic tuning of controller parameters can be of great use for data-driven adaptation during intra-patient variability conditions. Fractional order PI/PD controllers are generalizations of the well-known PI/PD controllers that exhibit an extra parameter usually used to enhance the robustness of the closed loop system. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

'Towards a ‘Science/Culture/Religion’ NETWORK OF NETWORKS: LEARN to LIVE and to PROGRESS 'together’ ', Volume 1 (Content, abstracts or first lines of the contributions, on the project essential)

Towards a ‘Science/Culture/Religion’ NETWORK OF NETWORKS: LEARN to LIVE and to PROGRESS ‘together’ This CROSS-DISCIPLINARY offer contains the affirmation to elaborate a cohesive set of pre-requisite data/information, foreseen/foresight/prospect(s), acts related to the tacit and explicit knowledge, and follow up consequences that draws up and extends an implementation of a ‘Local’ Nucleus of “Science-NATURE-Culture-SPIRITUALITY-Religion” as an active answer – through both ‘Dialogue’ and ‘Negotiation’ (on common interest issues) to whom it may concern relating the COST [European Cooperation in Science & Technology] AIMS. SYNTHETICALLY, IT IS THE PROPER LOCUS TO AFFIRM ON THE NECESSARY CAPACITY – POTENTIAL – (RE-)ACTION TO BE TAKEN WITHIN A DEDICATED CROSS-DISCIPLINARY OFFER TO ELABORATE A COHERENT AND COHESIVE SET OF PRE-REQUISITE DATA/INFORMATION, FORESEEN/FORESIGHT/PROSPECT(S), ACTS RELATED TO TACIT AND EXPLICIT KNOWLEDGE, AND FOLLOW UP CONSEQUENCES THAT DRAW UP AND EXTEND AN IMPLEMENTATION OF A ‘LOCAL’ NUCLEUS OF “Science-NATURE-Culture-SPIRITUALITY-Religion” AS AN ACTIVE ANSWER TO THE COST AIMS. THIS E-VOLUME CONTAINS THE FOLLOWING CONTRIBUTIONS: A META-SYSTEM FOR CONFLICT RESOLUTION Cathal MacSwiney BRUGHA Emeritus Professor and Adjunct Professor - Centre for Business Analytics, University College Dublin President - Analytics Society of Ireland, and a Fellow - Marketing Institute of Ireland School of Business University College Dublin Dublin, Ireland ‘(I)RATIONAL CHOICE’ AS A VIRTUAL NETWORK OF NETWORKS – UNDERSTANDING OF POWER, VIOLENCE AND JUSTICE (DIS)BALANCE Nicolae BULZ Professor PhD - Interdisciplinary Entities Laboratory, 2000 --- National Defence College --- IEM/Romanian Academy--- New York Academy of Sciences, Romania---USA Vasile CHIRA Lecturer PhD - Faculty of Theology ‘Andrei Saguna’, ULBS, Sibiu, Romania Octavian LECCA Engineer, Writer - Romania / Thailand ’QUALITY OF LIFE’ AS A VIRTUAL NETWORK - HUMANS’ WORK-FAMILY (DIS)BALANCE Nicolae BULZ Professor PhD - Interdisciplinary Entities Laboratory, 2000 --- National Defence College --- IEM/Romanian Academy--- New York Academy of Sciences, Romania---USA Andreu Miquel GINESTET MENKE COBAWU Institute Wuppertal, 2013, Member of the German Federation of Scientists since 2007, Germany Karolin Eva KAPPLER PhD - FernUniversitat Hagen, Institut fur Soziologie, Lehrgebiet Soziologie II / Soziologische Gegenwartsdiagnosen, 58084 Hagen, Germany Brian GRAN Professor PhD - Case Western Reserve University, United States INTO, FOR, BY TWO RE-UNITED COMPLEXITIES: NATURE-SOCIETY AND SCIENCE-CULTURE-RELIGION Nicolae BULZ Professor PhD - Interdisciplinary Entities Laboratory, 2000 --- National Defence College --- IEM/Romanian Academy--- New York Academy of Sciences, Romania---USA PAUL OF TARSUS THE ACCUSED Florence CAL-ANGLIA BD (Hons) Bachelor of Divinity, Member of the team of the project “What is truth?” community - St. Andrew’s Cathedral, Aberdeen, Scotland, UK THE METAPHYSICS OF FREEDOM AT ARTHUR SCHOPENHAUER Vasile CHIRA Lecturer PhD - Faculty of Theology ‘Andrei Saguna’, ULBS, Sibiu, Romania DOUBLE EPILOGUE Stefan Alexandru CIOBANU Statistician - National Institute of Statistics, Bucharest / Poet – Romania Adriana Carolina BULZ Lecturer PhD - Department of Management and Foreign Languages, Technical Military Academy, Bucharest / Poet – Romania VOLUME I COVER ON INCUBATING GLOBAL/REGIONAL KNOWLEDGE ON ‘SCIENCE/CULTURE/RELIGION’ NETWORK OF NETWORKS: LEARN TO LIVE AND TO PROGRESS TOGETHER – PERSONAL VIEWS ON Maria CONSTANTINESCU Plastic Artist, Member - Romanian Union of the Plastic Artists, Romania THE CONTEMPORARY EXPERTISE IN THE REPRESENTATION AND THE COMPLEX SOCIETAL PROBLEMS SOLVING (COMPRAM) CORRELATED TO THE FIELD OF BOETHIAN SCHOLARSHIP Dorien DeTOMBE Professor Dr. (MSc. Ph.D.) - Sichuan University, Chengdu, P.R. China Founder and Chair - International Research Society on Methodology of Societal Complexity, Amsterdam, The Netherlands Nicolae BULZ Professor PhD - Interdisciplinary Entities Laboratory, 2000 --- National Defence College --- IEM/Romanian Academy--- New York Academy of Sciences, Romania---USA CUCUTENI CIVILIZATION IN THE PREHISTORY OF EUROPE Valeriu DULGHERU Professor PhD, Dr.Sc. Habilitas - Technical University of Moldova, Chisinau, Republic of Moldova THE PHILOSOPHY OF THE TRUTH Timi EDIMOVID Professor PhD, Dr.H. C. - WORLD PHILOSOPHICAL FORUM (WPF) University Rector, Zg. Medosi, Korte, Izola, Slovenia Chair of Environmental Sciences of the Ansted University, Malaysia. WHAT COULD HAPPEN TO US IF WE WANT TO SEE THE GOD? Vasile GAFTON Dean Priest PhD – Avrig Deanery, Orthodox Metropoly, Sibiu, Romania PLANNING FOR A LONG TERM RELATIONSHIP Ikenna ASOGWA Mechanical Eng., Leader of the Bible Studies Group - St Andrew’s Cathedral, Aberdeen, Scotland, UK THEOLOGICAL SCIENCE: A DIALOGUE BETWEEN THE DISCIPLINES PAVING THE WAY TO “AGAPE” IN THE PRESERVATION AND ADVANCEMENT OF HUMAN CIVILISATION [ON THE ”THEOLOGICAL SCIENCE” / “TO BE AND TO HAVE”] David JOHNSTONE-BUCHER B Iuris LLB, UNISA Retired Career Court Justice, Noetic Researcher into Human Condition from a Pragmatic Judicial Perspective [Authorized by Appointed Representatives of the Templeton Foundation] Member of the project “What is Truth?” community - St. Andrew’s Cathedral, Aberdeen, Scotland, UK MEGALOGEUM. ENVISIONING A GLOBAL EPISTEMIC COMMUNITY Laszlo Z. KARVALICS PhD - University of Szeged, Library and Human Information Science, Faculty Member Szeged, Hungary ADVANCING BEYOND A MULTI-POLAR WORLD Frederick KILE Past President SWISS [Supplementary Ways of Improving the Interational Stability] / International Federation of Automatic Control (IFAC) // Microtrend, Appleton, WI, U.S.A. A SERMON AT ST. ANDREW’S CATHEDRAL, ABERDEEN ON THE GOSPEL – Sunday 7th September 2014. Richard E. KILGOUR Reverend Rector MA BD. – Holy Trinity, Motherwell and Wishaw Episcopal Churches, Diocese of Glasgow, Scotland, UK “ONE WORLD-ONE HEALTH” IN BUILDING OF GLOBAL BIOSECURITY SYSTEM BY MULTIDISCIPLINARY RESEARCHERS INTAGRATION IN VIRTUAL NETWORKS Zinaida KLESTOVA, Oksana BLOTSKA, Alla VORONINA, Alla YUSHCHENKO Deputy Director, Professor PhD – State Scientific-Control Institute of Biotechnology and Strains of Microorganisms (Kyiv, Ukraine) WHAT’S WRONG WITH THE WESTERN THINKING? Octavian LECCA Engineer, Writer - Romania / Thailand ETHICAL AND HUMAN BEHAVIOUR (HB) ASSESSMENT OF A COMPUTER CONTROL SYSTEM – THE HARDWARE DESIGN PHASE Jozef Bohdan LEWOC Founder and CEO - BPBIT Leader, Newark, Delaware, USA SUSTAINABLE DEVELOPMENT OF SOCIETY: FORMALIZATION, MODELS AND TRANSFORMATIONS - WITHIN AND BEYOND THE ‘ARCHEOLOGY INTO THE HUMANKIND’s FUTURE’ Alexander MAKARENKO Director, Professor PhD – Institute for Applied System Analysis at National Technical University of Ukraine AGAINST THE LEFT HEMISPHERE Felix NICOLAU Professor PhD - Lunds University, Sweden ON THE QUESTION “WHAT IS TRUTH?” Ken PAGE and Ingrid PAGE Ph.D., Retired professor Biochemistry, member of the community St. James the Less, Aberdeen, Scotland, UK – and joining the team of the project “What is truth?” community - St. Andrew’s Cathedral, Aberdeen, Scotland, UK Ingris is Ken Page’s wife WHY ARE WE HERE & WHAT PURPOSE IS OUR EXISTENCE? Sylvia SIMPSON Retired accountant, member of the project “What is Truth?” community - St. Andrew’s Cathedral, Aberdeen, Scotland, UK REPRESENTATIONS OF SIX AND SEVEN YEAR OLD CHILDREN ABOUT GOD Daniela SOREA Assistant Professor PhD – „Transylvania” University, Brasov, Romania Large-scale Keywords * NETWORK OF NETWORKS * Re-construction within the ‘Education_Administration_Freedom_Prosecution-and-Reward’ human nexus, * ‘Generosity_Creativity’ merging to ‘Creativity_Solidarity’ and turning point(s) within ‘Solidarity_Generosity’, *Higher order society beyond the contemporary global (post-)crisis, * Inter/Trans/Co-disciplinary, Intercultural and Ecumenical integrative approaches, * Knowledge Society towards Consciousness Society [Consciousness/Conscience/Mind, Brain-Heart Society / from probabilistic/fuzzy networking toward actively subtle networking] * Prevailing of a peace-entrepreneurship profession... but only consonant with another profession: progress-entrepreneurship Scaled KEYWORDS Complex Societal Problems Behavioural Technoculture and International Stability Progress Social Networks (Bio)Systems and (Bio)Ethics Metaheuristics

In Memoriam

Rudolf E. Kalman May 19, 1930—July 2, 2016Professor Rudolf Emil Kalman, formerly Graduate Research Professor and Director of the Center for Mathematical System Theory at the University of Florida in Gainesville, FL and the chair for Mathematical System Theory at the Swiss Federal Institute of Technology (ETH) in Zürich, Switzerland, passed away peacefully at his home in Gainesville, FL on July 2, 2016, after a short but valiant fight with cancer. He was 86 years old. He is survived by his wife Constantina nee Stavrou, their two children Andrew and Elisabeth, and their families.Starting in the early 1960s, Kalman's creative genius launched an era of transformative strides in systems science that enabled technological achievements that include the landing on the moon and the Global Positioning System-enabled cellphones. Chief among his creations was the Kalman filter which resides deep inside almost every navigation system, sensor technology, and computer-controlled regulation device. The present Special Commemorative Section Issue of the ASME Journal of Dynamic Systems, Measurement, and Control is dedicated to his memory and has been assembled to touch upon representative lines of research that spawned from his profound thought and to reflect upon his salient influence in so many facets of engineering and science.Rudolf Emil Kalman was born in Budapest on May 19, 1930, the son of Otto and Ursula Kalman. The Kalman family left Hungary in 1943, during World War II, and emigrated to the U.S. The family arrived in Youngstown, OH in 1949. Kalman attended Youngstown College for three years before being admitted at the Massachusetts Institute of Technology (MIT) to study electrical engineering. At MIT, he received his bachelor's degree (S.B.) in 1953 and, under the guidance of Ernst Guillemin, his Master's degree in 1954. He pursued doctoral studies at Columbia University in New York City under the guidance of John Ragazzini and received his degree (D.Sc.) in 1957 by presenting his doctoral thesis on the subject of “Analysis and Synthesis of Linear Systems Operating on Randomly Sampled Data.”After a brief stay at the IBM Research Laboratory in Poughkeepsie, NY, Kalman joined the Baltimore-Based Research Institute for Advanced Studies (RIAS) of the Glenn L. Martin Company in 1958, also referred to as Martin-Marietta, after a merger in 1961, and eventually Lockheed-Martin. The mathematical division of the institute was headed by the world-renowned mathematician Solomon Lefschetz, and the institute distinguished itself as one of the world's premier centers of mathematical research. As it turned out, the impact of the institute was to be multiplied manyfold by the groundbreaking contributions of this newly hired young research mathematician, Rudolf Kalman. Shortly after Kalman joined RIAS he developed the Kalman filter. He worked out his idea in January 1959 and presented his famous publication, “A New Approach to Linear Filtering and Prediction Problems,” in late March 1959 at a conference of the American Society of Mechanical Engineers. Entrenched viewpoints led to initial skepticism on Kalman's discovery and his second paper on the subject, “New Results in Linear Filtering and Prediction Theory,” coauthored with Richard Bucy, was initially rejected. However, soon afterward, the transformative nature of Kalman's work was widely recognized. A visit by Kalman in the Fall of 1960 to Stanley Schmidt at the Ames Research Center of NASA in Mountain View, CA proved pivotal. Schmidt saw the potential impact of Kalman's discovery in the estimation and control problem of the Apollo project, the mission to the moon and back in the planning stages, and immediately set out to transition the discovery into an astronautical guidance system. The remarkable effectiveness of this new technology was duly publicized by Schmidt who credits the Apollo program for the conditions and funds that facilitated this glorious opening success of Kalman filtering [1].Kalman filtering was just one of the many foundational contributions that Kalman laid out during the years at RIAS, from 1958 to 1964. His uniquely original approach to research shaped the field of control in the subsequent decades. His ability to see, through the maze of techniques and practices of the time, the emerging role of computers in engineering and science led him on a search for new foundations. Throughout, his taste for problems was guided by engineering relevance as well as mathematical elegance. During the First Congress of the International Federation of Automatic Control (IFAC) in Moscow, in 1960, in his paper “On the General Theory of Control Systems,” the young Rudy Kalman introduced the concepts of controllability and observability, their duality, and their relevance in control and estimation. Yet, in the same paper, in spite of the transformative nature of what he had just introduced, he underscored his view that the current “understanding of fundamental aspects of control remained superficial” and raised thought provoking questions on the nature of information that is needed to achieve desired control objectives. Kalman was on a mission to transform the field, and so he did. Today, more than half a century later, control theory and engineering relies heavily on the foundations he laid out, controllability, observability, realization theory, duality between control and estimation, separation principle, and many more.After RIAS, Kalman was appointed as Professor at Stanford University from 1964 until 1971, and subsequently the Graduate Research Professor and the Director of the Center for Mathematical System Theory at the University of Florida from 1971 until 1992. He stayed on at the University of Florida for another five years until retirement in 1997. Starting in 1973 and in parallel with his position in Florida he also held the chair of Mathematical System Theory at the Swiss Federal Institute of Technology in Zürich, Switzerland, which he held until his retirement in 1997. During his long career, he produced a wealth of original contributions and ideas that have laid the seeds for many developments that followed. From sampled-data control systems, to stability theory, the structure of dynamical systems, optimization, and many more, his manuscripts are gems, both in depth and style, and the contribution of his thought is timeless.The breadth of his vision reached much further out into the foundations of the sciences. He sought to understand what information experimental data convey and was engrossed by the apparent sloppiness of how models are devised and treated in different fields. In his address to the Inamori Foundation on receiving the Kyoto prize, Kalman heralded the scope of System Theory to this end, and underscored his conviction that “scientific modeling is a deductive exercise, and not a creative act.” His firm belief in a “prejudice-free” system theoretic perspective guided him through most of his life and he often emphasized how severely “under-developed” the subject of “system identification from noisy data” actually is, referring to this as “one of the most urgent scientific research problems of our day” [2]. His criticism: “Whenever a model is built, it is always proper to ponder the basic scientific question: Is the model really based on the data? Or is an artifact displaying the prejudices of its creator?” stands to lead future generations to reach the mountaintop that he sought.Rudolf Kalman was an elected member of the National Academy of Sciences (USA), the American National Academy of Engineering (USA), and the American Academy of Arts and Sciences (USA). He was a foreign member of the Hungarian, French, and Russian Academies of Sciences. He was awarded many honorary doctorates from universities around the world. He received numerous awards including the IEEE Medal of Honor in 1974, the IEEE Centennial Medal in 1984, the Inamori foundation's Kyoto Prize in Advanced Technology in 1985, the Steele Prize of the American Mathematical Society in 1987, the Richard E. Bellman Control Heritage Award in 1997, and the National Academy of Engineering's Charles Stark Draper Prize in 2008. President Obama personally honored Kalman with the 2008 National Medal of Science, the highest recognition the United States bestows for advancement in science, technology, and innovation.Rudolf Emil Kalman, the founder of the field of Mathematical System Theory and a giant in the field of Control, has left us. Until the very end of his life, he continued tirelessly to seek out the truth and ponder about the physical world and the world of ideas that we live in. The immense contributions and the light of his thought will shine bright for generations to come. He is dearly missed by all those who had the privilege to know him.

Desensitized Optimal Trajectory for Multi-phase Lunar Landing 1 1Authors are thankful to DST-FIST for its financial support in acquiring DIDO software

Lunar landing problem has been formulated as desensitized optimal control problem and solved by Legendre Pseudospectral method. The problem has been split into three phases to account for mission constraints, namely the braking with rough navigation stage (from 18km to 7km), attitude hold stage (holding the attitude for 35sec) for a typical mission scenario. In presence of uncertainties, following the open loop reference trajectory using the closed loop linear quadratic regulator contribute greatly in trajectory dispersions. The goal is to desensitize this multi-phase optimal trajectory with reduced error in presence of initial state error, thrust error, Moon's gravity uncertainty. To achieve this, the fuel minimization cost function is augmented with closed loop covariance to generate the open loop reference trajectory. Following this reference trajectory using closed loop linear quadratic regulator, shows significant reduction in landing error. The amount of extra fuel consumed by desensitizing optimal trajectory is less significant when compared to improvement in landing accuracy to meet mission constraints assuring the desensitized optimal control a viable technique for lunar landing trajectory design. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

EIT based pulsatile impedance monitoring during spontaneous breathing in cystic fibrosis**Partial results of this study will be presented at the 20th World Congress of the International Federation of Automatic Control in Toulouse, France.

Objective. Evaluating the lung function in patients with obstructive lung disease by electrical impedance tomography (EIT) usually requires breathing maneuvers containing deep inspirations and forced expirations. Since these maneuvers strongly depend on the patient’s co-operation and health status, normal tidal breathing was investigated in an attempt to develop continuous maneuver-free measurements. Approach. Ventilation related and pulsatile impedance changes were systematically analyzed during normal tidal breathing in 12 cystic fibrosis (CF) patients and 12 lung-healthy controls (HL). Tidal breaths were subdivided into three inspiratory (In1, In2, In3) and three expiratory (Ex1, Ex2, Ex3) sections of the same amplitude of global impedance change. Maximal changes of the ventilation and the pulsatile impedance signal occurring during these sections were determined (▵IV and ▵IP). Differences in ▵IV and ▵IP among sections were ascertained in relation to the first inspiratory section. In addition, ▵IV/▵IP was calculated for each section. Main results. Medians of changes in ▵IV were  <0.05% in all sections for both subject groups. Both groups showed a similar pattern of ▵IP changes during tidal breathing. Changes in ▵IP first decreased during inspiration (In2), then increased towards the end of inspiration (In3) and reached a maximum at the beginning of expiration (Ex1). During the last two sections of expiration (Ex2, Ex3) ▵IP changes decreased. The CF patients showed higher variations in ▵IP changes compared to the controls (CF:  −426.5%, HL:  −158.1%, coefficient of variation). Furthermore, ▵IV/▵IP significantly differed between expiratory sections for the CF patients (Ex1–Ex2, p  <  0.01; Ex1–Ex3, p  <  0.001; Ex2–Ex3, p  <  0.05), but not for the controls. No significant differences in ▵IV/▵IP between inspiratory sections were determined for both groups. Significance. Differences in ▵IP changes and in ▵IV/▵IP between both subject groups were speculated to be caused by higher breathing efforts of the CF patients due to airway obstruction leading to higher intrathoracic pressures, and thus to greater changes in lung perfusion.

A Survey on Industry Impact and Challenges Thereof [Technical Activities]

At its 2014 World Congress, the International Federation of Automatic Control (IFAC) launched a pilot industry committee with the objective of increasing industry participation in, and impact from, IFAC activities. The chair of this committee is Tariq Samad, with support from Roger Goodall (Loughborough University, United Kingdom) and Serge Boverie (Continental, France) as cochairs. This committee was established as an outcome of an industry task force led by Roger Goodall in the last IFAC triennium (2011-2014).

13th European Workshop on Advanced Control and Diagnosis (ACD 2016)

13th European Workshop on Advanced Control and DiagnosisThe 13th European Workshop on Advanced Control and Diagnosis (ACD 2016), www.acd2016.eu took place at Hautes Etrudes d’Ingénieur (HEI), Lille, France, on November 17-18, 2016.The annual European Workshop on Advanced Control and Diagnosis has been organized since 2003 by Control Engineering departments of several European universities in Germany, France, the UK, Poland, Italy, Hungary, Denmark and Czech Republic, to bring together senior and junior academics and engineers from diverse fields of automatic control, fault detection, and signal processing. The workshop provides an opportunity for researchers and developers to present their recent theoretical developments, practical applications, or even open problems. It also offers a great opportunity for industrial partners to express their needs and priorities and to review the current activities in the fields.A total of 100 papers have been submitted for ACD 2016. Based on the peer reviews 71 papers were accepted for oral presentation, 4 papers withdrawn, 3 papers not presented. The accepted papers covered areas of Fault Diagnosis, Estimation and Observation, Fault Tolerant Control, Predictive Control, Robust Control, Control Theory, fractional order systems, Modeling and Data °Processing, Software tools and code generation. In addition, four excellent plenary lectures were delivered by experts on their domain: Ir. Serge Legonidec from the company Airbus Safran Launchers, France : An overview of connections between scientific automatic topics and their applications in the propulsive systems, Dr. Ir. Jan-Willem Van Wingerden, Technical University of Delft, Nederland : Wind Energy Control Research, Prof. Sarah Spurgeon, University College London, UK: On discontinuous Observers: From Basic Properties to a Robust Fault Detection and Condition Monitoring Tool, Dr. Joseph-Julien Yame, University of Lorraine, Nancy, France : Data Driven Fault Tolerant Control: a behavioral approach.The ACD 2016 has been co-sponsored technically by the International Federation of Automatic Control (IFAC).On behalf of the ACD 2016 organizing committee, we would like to thank all those who prepared and submitted papers, participated in the peer review process, supported, and attended the workshop.Abdel AITOUCHE - General ChairJosef KORBICZ - IPC ChairVincent COCQUEMPOT - IPC Co-Chair

Modified Cascade Kalman Filter for Sensor Data Fusion in Micro Aerial Vehicle∗∗This work is funded by the DRDO/NPMICAV project.

Precise attitude estimation is important for navigation, guidance and control of Micro Aerial Vehicles (MAV) as they are mostly equipped with low integrity sensors due to the constraints on MAV payload and able power. The MAY sensors such as accelerometer and magnetometer are prone to noise as they are placed in proximity to the motor due to constraints on centre of gravity (CG). Data from a single sensor are not reliable for all operating points of flight envelope as the motor vibration and magnetic flux due to the motor vary with RPM. Hence accurate attitude estimation of MAV is achieved through multisensor data fusion. In this paper, a modification to the classical cascade Kalman filter is proposed. Modified Cascade Kalman Filter (MCKF) has better estimation performance as it is a single Kalman filter similar to measurement fusion technique and also it restores the flexibility and computational efficiency of state vector fusion method. A numerical example is presented wherein the derived MCKF is implemented for the attitude estimation of MAV in the 6 DOF simulation model developed in MATLAB/SIMULINK and also for a set of calibrated accelerometer and magnetometer sensor data With motor noise acquired from the autopilot mounted on the rate table of the notion simulator. It was found that MCKF exhibits substantially improved performance compared to extended Kalman filter with only accelerometer data with motor noise. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

An Output Feedback Controller with Improved Transient Response of Marine Vessels in Dynamic Positioning

© 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. This is the authors' accepted and refereed manuscript to the article.

A Brief Survey on Bio-inspired Algorithms for Autonomous Landing∗∗The work is supported under IISc-DRDO collaborative project TR-DRDO-PAME-2015-05. The authors acknowledge Mr Ashutosh Simha, SERC, IISc for technical inputs and DRDO-FIST for the infrastructure provided.

The paper briefly introduces a few bio-inspired algorithms which can be applied to autonomous landing for Unmanned Aerial Vehicles (UAVs). A number of vision based data acquisition methodologies used for UAV navigation and guidance are described. Monocular camera based vision data can be used to extract plethora of information about the dynamics of a target plane in landing problems and also about the pose of the camera itself. Some recent, developments in the areas of autonomous landing and perching based on vision data from monocular camera are introduced. Some possible relevant extensions are also provided. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

A New Philosophy in Adaptive Control Design for Robust Attitude Maneuver of Spacecrafts

An adaptive control law has been designed for robust attitude tracking of a spacecraft with uncertain inertia matrix, torque coupling; coefficients and exogenous disturbances. The strict block feedback structure of the attitude dynamics is exploited in designing a back stepping control law, which depends on a compensator variable whose dynamics is designed to adapt to the unknown parameters. Two switching components have been incorporated into the dynamic feedback law to ensure robustness with respect to the disturbances and uncertainties in the torque coupling; coefficients. The spacecraft dynamics is simulated using the dynamic feedback control, first without the switching components and later incorporating the same, in order to demonstrate the effectiveness and robustness of the proposed method. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Optimal Trajectory Planning for Multiphase Lunar Landing

Lunar landing problem is formulated as an optimal control problem and has been solved by Legendre Pseudospectral method. The landing problem is split into various stages to take into account various mission constraints. Based on These constraints, the problem is split into three stages Hough Braking, Attitude Hold and Retargeting Legendre Pseudospectral method is used for solving this multiphase lunar landing problem. The idea of this method is to discretize the trajectory optimization as a nonlinear programming problem. Legendre Pseudospectral method was applied to approximate the state and the state differential equations as algebraic constraints. Optimal solutions of the above problem are those control variables which dynamically satisfy all mission constraints. The cost function considered is minimum fuel satisfying all mission constraints envisaged. The method guarantees a null (Mann fuel solution which satisfies terminal mission constraints in each stage as part of the formulation. The mission constraints considered in studying this problem are desired altitude, attitude and velocity while reaching the desired landing site from a specified perilune height. At touchdown, the lander orientation should be vertical favoring landing leg of the Lander to touch the Moons surface as desired. The commanded acceleration should be within the limit of the main engine thruster capability (saturation limit) which enforces maximum and minimum thrust constraints. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Rendezvous Guidance Laws for Aerial Recovery using Mothership-Cable-Drogue System

This paper presents a comparison of prospective guidance laws for aerial recovery of UAVs using a Mothership-Cable-Drogue system. The guidance methods for rendezvous should simultaneously take the LOS distance, the LOS rate and the relative velocity between the UAV and the drogue to zero. Furthermore, the guidance laws should ensure the terminal alignment of the UAV along the longitudinal axis of the drogue. This alignment is quantified as a funnel shaped spatial region with its narrow end at the conical drogue. The paper essentially compares the two guidance laws, pure pursuit and trajectory shaping, on the basis of the entry of the UAV into this funnel. The comparison is presented in terms of the UAV conditions (position and heading) that lead to a rendezvous satisfying the terminal spatial constraints. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.