Activity Report

Automatic Control 2000

Mailing address Department of Automatic Control Lund Institute of Technology Box 118 SE 221 00 LUND SWEDEN Visiting address Institutionen fr Reglerteknik Lunds Tekniska Hgskola Ole Rmers vg 1, Lund Telephone Nat 046 222 87 80 Int +46 46 222 87 80 Fax Nat 046 13 81 18 Int +46 46 13 81 18 Generic email address control@[Link] WWW and Anonymous FTP [Link] [Link]

The report was edited by Karl-Erik rzn and Agneta Tuszynski

Printed in Sweden Universitetstryckeriet, Lund, June 2001 ISSN 02805316 ISRN LUTFD2/TFRT--4028--SE

Contents
1. Introduction 5 9 11

2. Internet Services

3. Economy and Facilities 4. Education 5. Research 15 19 45

6. External Contacts

7. Looking Back on Robotics Research 8. Dissertations 61 67 69

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9. Honors and Awards 10. Personnel and Visitors 11. Staff Activities 12. Publications 13. Reports 95 87 73

14. Lectures by the Staff outside the Department 15. Seminars at the Department 109

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1. Introduction
This report covers the activities at the Department of Automatic Control at Lund Institute of Technology (LTH) from January 1 to December 31, 2000. The budget for 2000 was 24 MSEK. The proportion coming from the University was 45%. Three PhD theses were defended this year, by Hlne Panagopoulos, Anders Walln, and Erik Mllerstedt. This brings the total number of PhDs graduating from our department to 60. A Lic Tech thesis was completed by Anton Cervin. 2 new PhD students have been admitted during the year: Henrik Sandberg and Dan Henriksson. 4 persons with doctors degree left the department: Mats kesson started to work for Biotecnol SA in Portugal, Charlotta Johnsson for ORSI Automazione SpA, Italy, Hlne Panagopoulos for Mets-Serla Corporation in rnskldsvik, Sweden, and Anders Walln for Ericsson Mobile Communications in Lund, Sweden. In the civilingenjr (master) program we have 9 courses. The total number of students that nished the courses were 721, and 33 students completed their master theses. The total teaching effort corresponds to 112 full-year equivalents. Research at the department is presented under the following headlines: nonlinear and uncertain systems, modeling and simulation, process control, robotics, real-time control, and applications. Some members of the department have received honors and awards, see Chapter 9. For instance, the IEEE Board of Directors elected Anders Rantzer to IEEE Fellow. Karl-Erik rzn was promoted to professor in automatic control at the department, June 1, 2000. The department now has seven professors and one professor emeritus.

Introduction During the year the department has participated in the formation of LUCAS - Center for Applied Software Research at Lund Institute of Technology. The center is a collaboration between the software related activities at three departments: Automatic Control, Computer Science, and Communication systems. The center is funded by NUTEK/VINNOVA, Swedish industry, and Lund University. A workshop entitled Hybrid Control and Automotive Applications was organized in Lund, May 5-6, 2000 with support from EU and TFR. Sixteen leading European scientists gave invited presentations and several companies contributed as well. Our retrospect this year, Chapter 7, describes our research in robotics since the mid 1980s. Some statistics from ve years is given in the table below. Notice that the entry 95-96 covers a period of 1.5 years.
95-96 Books Papers Conference papers PhD theses Licentiate theses Master theses Internal reports 1 30 71 3 2 40 18 97 2 15 45 1 3 18 11 98 1 24 37 2 6 20 11 99 2 24 45 7 1 25 8 00 0 18 37 3 1 24 5 Sum 6 109 235 16 13 126 53

Introduction Acknowledgments We want to thank our sponsors, Swedish National Board for Industrial and Technical Development (NUTEK), Swedish Research Council for Engineering Sciences (TFR), Swedish Natural Science Research Council (NFR), Swedish Medical Research Council (MFR), Elforsk, The European Council, Foundation for Strategic Research (SSF), The Swedish Foundation for International Cooperation in Research and Higher Education (STINT), ABB Automation Products AB, ABB Robotics AB, Active Biotech, Lund Research Center AB, Ericsson Mobile Communications AB, LM Ericsson Foundation, Nordkvist, Pharmacia & Upjohn, SBL Vaccin AB, Sydkraft AB, Tetra Pak Research & Development AB, The Royal Physiographic Society, and Volvo Techical Development AB, for their support to our projects.

2. Internet Services

World Wide Web

Our home-page rst appeared on the World Wide Web (WWW) in April 1994. Visit our home-page at this address:

[Link]
Our web site contains information about personnel, publications, seminars, education, etc. It also contains fairly complete lecture notes for many courses, and in some cases software tools such as Matlab tool-boxes developed at the department. The department has also an unofcial home page:

[Link]

Electronic Mail
All personnel can be contacted by electronic mail. A personal email address consists of the full name and the department address, written in the form [Link]@[Link]. Double names are separated by underline, hyphens are treated as ordinary characters, and accents are ignored. Examples:

karl_johan.astrom@[Link] [Link]@[Link] [Link]@[Link]

Our web page [Link] contains a complete list of email addresses. The department also has a generic email address:

control@[Link]
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Internet Services Letters to this address are continuously read by the postmaster and forwarded to the appropriate receiver.

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3. Economy and Facilities

The turnover for 2000 was 24 MSEK. The income comes from Lund University (45%) and from external grants; the distribution is shown below.
University grants for research, 21%

University grants for education, 24%

Foundations and misc., 13% Governmental grants, 37%

EU grants, 4% Industrial grants 1%

Funding
Lund University provides partial support for graduate students. The majority of our research is, however, externally funded from governmental agencies and industry. During 2000 we had the following contracts:

TFR Control of Industrial Processes (block grant) NUTEK Modeling and Simulation of Complex Systems
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Economy and Facilities

NUTEK Lund Research Programme in Autonomous Robotics NUTEK Data Integration and Force Control for Robots NUTEK Automatic Control and Driver Model NUTEK Motion Control NUTEK Process Control for Cultivation of Micro Organisms NUTEK Application Specic Real-time Systems: Programming of Control Systems NUTEK Distributed Control of Safety Critical Systems NUTEK Basic Control Functions for the Process Industry NUTEK Lund Center for Applied Software Research (LUCAS) STINT Funding for research collaboration with Caltech SBL Vaccin AB Evaluation of a new method for supply of carbon source SSF Center for Chemical Process Design and Control (CPDC) SSF Computational Analysis of Dynamical Models SSF ARTES Integrated Control and Scheduling ELFORSK Modeling of Electric Power Networks Sydkraft Modeling and Control of Energy Processes Pharmacia&Upjohn Control of Genetically engineered E. coli. EU ESPRIT LTR Fuzzy Algorithms for MIMO Control (FAMIMO) EU ESPRIT LTR Heterogeneous Hybrid Control (H2C) EU HPRN-CT - Nonlinear and adaptive control (NACO2)

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Economy and Facilities The block grant from TFR and the CPDC grant from SSF are long range and some of the NUTEK projects are also long range. Several projects do, however, have a duration of only two years. To match these with the duration of a PhD, which is much longer, we have an internal research planning that is much more long range and we are careful to bid on projects that t our long range research plan. This has proven an effective way to match short-term funding to long-term planning.

Facilities
The main facilities are laboratories and computer systems. Our main computing resource is a network of Unix workstations. All members of the department have on their desks workstations connected to this network. For all academic staff the machines are SparcStation Ultra1 or better. There is also a powerful central computer for heavy computations. Teaching Laboratory The teaching laboratories are based on desktop processes and personal computers. These laboratories are used in all our courses. The introductory courses give a heavy load on the teaching laboratories because of the large number of students. There are more than 700 students, and on the average they spend about 20 hours each in the lab. The use of Linux with UTIME in the lab has been further consolidated. It gives us a very stable environment with good performance for soft Real-Time experiments. The Linux conguration is: Red Hat 6.x, UTIME kernel timer resolution patch, COMEDI control and measurement device interface ([Link] and [Link] Robotics Laboratory The Robotics Laboratory, containing two industrial robot manipulators (Irb-6 and Irb-2000) together with the Open Robot Control architecture 13

Economy and Facilities developed at the Dept of Automatic Control (see "Looking back on Robotics Research"), serves as a good common experimental platform for research activities from many different departments and research groups. Matlab/Simulink interfaces for down-loading and dynamically linking new control algorithms to the robot systems and the integration of external sensors such as e.g. force/torque sensors and stereo vision cameras, also allow a lot of student projects and master thesis projects to use the facilities in the RobotLab. During 2000, a new robot system (Irb2400/S4C+) from ABB Robotics, Sweden, was installed. Modication of the controller structure is done in close corporation with ABB Robotics. The new robot was placed in the laboratory belonging to the Division of Robotics/Dept. Mechanical Engineering.

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4. Education
Engineering Program
The engineering education follows the central European systems with a 4.5 year program leading up to the degree civilingenjr ([Link].), which corresponds to an MSc in the US and British systems. Automatic control courses are taught as part of the engineering curricula in Engineering Physics (F), Electrical Engineering (E), Computer Engineering (D), Mechanical Engineering (M), Industrial Management and Engineering (I), and Chemical Engineering (K). Our courses are listed in Table 4.1. During 2000, 721 students passed our courses and 32 students completed their master-thesis projects. The number of registered students corresponded to 112 full-year equivalents during the year. Topics for the master theses were in the following areas: Adaptive control (2), Control of nonlinear and uncertain systems (4), Modeling and simulation (2), Signal processing (3), Real-time systems (2), Robotics (3), Automotive applications (2), Process control and power system and tuning (6). A list of the master theses is given in Chapter 13.

Information on WWW
Many students have access to Internet via Lund University. Therefore we have made a great effort to present the education on web pages. Each course in the engineering program has its own home-page, where the students can nd course plans, lecture notes, documentation, manuals, old exams, etc. 15

Education
Table 4.1 Courses and the number of students who passed. Reglerteknik AKFEDI FRT010 (Automatic Control, basic course) Reglerteknik AKM FRT061 (Automatic Control, basic course) Processreglering (K) FRT080 (Automatic Process Control) Digital Reglering (FED) FRT020 (Computer-Controlled Systems) Realtidssystem (FED) FRT031 (Real-Time Systems) Systemidentiering (FED) FRT041 (System Identication) Adaptiv reglering (FED) FRT050 (Adaptive Control) Olinjr reglering och Servosystem (M) FRT075 (Nonlinear Control and Servo Systems) Projekt i reglerteknik FRT090 (Project in Automatic Control) Internationell projektkurs i reglerteknik FRT100 (International Project Course in Automatic Control) Examensarbete 20 pong FRT820 (Master-thesis project, 5 months) 411 116 16 46 62 19 22 21 4 4 24

We have also made information sheets about the engineering courses and the doctorate program, and they were received very well. You nd the education links at [Link]

Doctorate Program
Three PhD theses were defended by Anders Walln, Hlne Panagopoulos, and Erik Mllerstedt. This brings the total number of PhDs graduating from our department to 60. A Lic Tech thesis was completed by Anton Cervin. Abstracts of the theses are given in Chapter 8. We have admitted two new PhD students during the year: Henrik Sandberg and Dan Henriksson. 16

Education The following PhD courses were given:

Linear Systems I (A. Rantzer) 5 points 25 seminal papers (B. Wittenmark) 4 points Hybrid systems (A. Rantzer) 3 points Physical modeling of dynamic systems (K. J. strm) 4 points Model predictive control (J. Rawlins) 3 point Basics of robust control (A. Ghulchak) 5 points Synthesis (B. Bernhardsson) 5 points Languages for automation (K-E rzn) 4 points

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5. Research
The goal of the department is to provide students with a solid theoretical foundation combined with a good engineering ability. This is reected in the research program which covers both theory and applications. The major research areas are:

Nonlinear and Uncertain Systems Modeling and Simulation Process Control Robotics Real-Time Control Applications
In the following presentation the research is in most cases broken down to the granularity of a PhD thesis. There are of course strong relations between the different projects.

Nonlinear and Uncertain Systems

Control of Nonlinear and Uncertain Systems
Researchers: Anders Rantzer, Bo Bernhardsson, and Andrey Ghulchak

Current developments in control theory are closely linked to the rapid improvements of computer tools for design, analysis, and simulation. The aim of this project is to pursue this combined development of theoretical and computational tools, and dene new directions motivated by applications. Our main investigations deal with stability and robustness analysis as well as controller optimization. 19

Research

6 6 4 2 0 2 x 4 6 8 10

Figure 5.1

, y ) = (2 x + x2 y2, 6 y + 2 x y) Phase plane plot for the system ( x

This year, we reached a considerable breakthrough in the analysis of nonlinear systems. Most classical analysis methods have been based on Lyapunov functions. This is a very strong theoretical tool, but has important shortcomings. One is the difculty to get global results for systems with several equilibria. Moreover, important difculties in control synthesis can be traced back to the fact that the set of control Lyapunov functions for a given system is generally non-convex and sometimes disconnected. Our main new result gives an alternative approach to stability of nonlinear systems, which can be viewed as a dual to Lyapunovs theory. It is different in the sense that all implications are stated in terms of "almost all trajectories" of the system. This makes it easier to get global results. For example, the criterion can be used to verify in a few lines of hand calculations that , y ) = (2 x + x2 y2 , 6 y + 2 x y) almost all trajectories of the system ( x converge to zero. See Figure 5.1. Furthermore, the new criterion enjoys a powerful convexity property in the context of control synthesis. For several years, we have been developing the analysis framework based on integral quadratic constraints. This work is done in cooper20

Research ation with Prof. A. Megretski at MIT. The activity has resulted in a sequence of joint publications and a Matlab tool-box named IQCbeta to support the analysis of interconnected systems. Andrey Ghulchak works as guest researcher and together with Anders Rantzer he studies optimization with frequency domain constraints. This problem area has a wide variety of applications in control. An important result is that we can use convex optimization tools to prove that certain sets of controller specications are not possible to satisfy by any controller. Hybrid Control
Researchers: Karl Johan strm, Bo Bernhardsson, Sven Hedlund, Stefan Solyom, and Anders Rantzer

Hybrid systems is an active research area on the border between Computer Science and Automatic Control. A typical hybrid system consists of a physical process under control and supervision of a discrete computer. Not only computers, but also some physical phenomena are conveniently modelled as discrete events. Examples are mechanical systems with backlash, dead zones, and static friction, or electrical systems with switches. The department is one of four partners in the ESPRIT-project Heterogeneous Hybrid Control. Within this project, a computational approach to hybrid systems has been developed. The work is directed towards stability, performance, and optimal control for hybrid systems. Piecewise quadratic Lyapunov functions and cost functions are computed by convex optimization. The method is a generalization of earlier work on quadratic stability and gives big exibility for analysis of hybrid systems. Two demonstrator problems are provided by DaimlerChrysler. The main one is concerned with control of ABS brakes, where a hybrid control structure is motivated by rapidly changing road conditions and actuator constraints.

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Research

( x ) V1

( x ) V2

x
Figure 5.2 Optimal cost functions for a simple hybrid control problem. A vehicle should be brought to desired position and velocity using gear shifts (discrete) and throttle adjustment (continuous). A unit cost is assigned to each gear shift.

Analysis of Electric Power Quality in Distribution Networks and Loads

Researchers: Bo Bernhardsson, Erik Mllerstedt, Henrik Sandberg, and Anders Rantzer

The introduction of power electronics has dramatically changed the eld of power systems during the last decades. Power electronic devices increase the exibility and make more optimal utilization of the grid and improved load performance possible. New concepts and solutions have emerged, like high voltage dc (HVDC) transmission and distributed power generation (DPG). The deregulation of the electricity market has further helped to make these new concepts economically viable. To allow for a more optimized operation of the system, accurate methods for analysis and control design are essential. However, the fast switching nature of power electronics leads to systems that are very hard to analyze. Traditional stability analysis of power systems is based on linear time invariant models with slow dynamics, and assumes all signals to be sinusoidal. This is no longer sufcient in order to guarantee stable operation and to fully utilize the capacity of the power electronic devices. Only relatively small deviations from the nominal voltage are allowed, so our approach is to linearize the system around the nominal operating trajectory. Power systems are driven by a voltage of xed 22

Research frequency and amplitude (generally 50 or 60 Hz), leading to periodic nominal trajectories, despite the switching dynamics of the power electronics. Linearization around periodic trajectories leads to linear time periodic (LTP) models. Actively controlled power electronic devices like power converters, are very powerful actuators. Power ows can be changed in a fraction of a cycle. Since the grid itself is not low pass, the total system cannot be assumed to have slow dynamics. Furthermore, because of the switching dynamics, there is coupling between frequencies. Consequently, to fully utilize the possibilities brought by the power electronics, and to avoid too conservative solutions, harmonics and frequency coupling must be taken into account. This coupling is captured by the linear time periodic models.

Figure 5.3 A small 100 kW micro-turbine used for distributed power generation. It is connected to the grid via power electronic converters.

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Research Current standards for assuring stability in power systems are based on old fashioned assumptions and have poor theoretical justication in modern power technology. They are often very conservative and lead to loss of efciency and money. However, modeling power systems as LTP systems, modern analysis and design methods from robust control become applicable. There are many results from control theory that can be used to improve network operation. In particular, LQG and H control for LTP systems can be used to improve stability and robustness.

Modeling and Simulation

Modeling and Simulation of Complex Systems
Researchers: Hubertus Tummescheit, Jonas Eborn, Anders Rantzer, Karl Johan strm, and Falko Jens Wagner

The main aim of this project is to develop methods and computer tools which support development and use of mathematical models. The basic idea is to support reuse, so that a model component can be used as a part in different applications to solve a variety of problems. Good model libraries should allow a user to make the desired model simply by combining components. Computer tools should automate the analysis and manipulation, which has to be done manually today to get the problem on a form that is efcient for numerical simulation. The project started as a computer tool development project and later shifted towards model library development, model language standardization, and model reduction methods. The department is an active member in the design of the modeling language ModelicaTM , which started at a meeting in Lund in 1996. With support from ESPRIT, Simulation in Europe, the design of Modelica Version 1.0 was nished in September 1997. Now, Version 1.4 has been released and the commercial simulation tool Dymola supports Modelica since more than a year. Several other companies and universities have announced Modelica based tools soon to be released. The language denition and other information on the Modelica effort are available on the web site [Link] 24

Research A very important part of the Modelica effort is development of model libraries. The department has for some years been developing models for energy processes. This has resulted in a Modelica base library for thermo-hydraulic systems, ThermoFlow. The base library contains models for lumped or discretized control volumes, based on the physical balance equations of mass, energy and momentum. The ThermoFlow library is designed to be exible, using Modelica class parameters to exchange medium property descriptions and ow machine characteristics. In the library, particular attention has been given to efciency for dynamic simulation of medium property functions, since standard medium models are built for static calculations. The work on the ThermoFlow library was presented at the rst Modelica workshop in October, organized by the department. The workshop was a success with over 90 participants, of which more than half were industrial representatives. Within the project there is also an effort to combine the experiences of object-oriented modeling with basic concepts of robust control. For example, an object oriented model of the Nordel power grid was recently used to generate data for a Matlab analysis of worst case parameter combinations for power grid stability. Currently, efforts are made to use model reduction concepts for periodic systems on a model for ow oscillations in two-phase ow through a heated pipe. System Identication
Researchers: Rolf Johansson in cooperation with M. Verhaegen, TU Delft

An identication algorithm that effectively ts continuous-time transfer functions and nite-bandwidth noise models to data has been published. Analysis of this class of algorithms proves convergence properties similar to that of maximum-likelihood identication of discretetime ARMAX models. A substantial improvement of the identication accuracy of continuous-time zeros appears to be an important and attractive property of the new algorithm. When using discrete-time data, it is necessary to make discretization somewhere in the continuous-time identication algorithms. In that context, we have studied approximation properties of a variety of the discretization methods. 25

Research One research direction that is currently pursued is system identication methodology suitable for multi-input multi-output systems for which matrix fraction descriptions are not unique. A promising approach to system identication appears to be the continued-fraction approximation and we have published a number of new matrix fraction descriptions and theoretical results that resolve such problems of uniqueness. However, several theoretical problems remain to be solved with regard to algorithm efciency, statistical properties and validation aspects. Biomedical Modeling and Control
Researchers: Rolf Johansson in cooperation with Dr Mns Magnusson, Department of Oto-Rhino-Laryngology, Lund University Hospital

The project is directed towards assessment of normal and pathological human postural control. System identication and mathematical modeling of the dynamics in postural control are studied with special interest on adaptation, reexive and anticipatory control. Reexive and voluntary eye movements are studied in patients with lesions related to balance disorders. Experimental studies, with special reference to the level of alertness, are undertaken to enhance understanding, diagnosis and treatment of dizziness and vertigo. A major complication is that human postural control is characterized by multi-sensory feedback control (visual, vestibular, proprioceptive feedback) and this fact is reected both in experiment design and analysis. Special interest is directed to the importance of cervical and vestibular afference. To this purpose, stability properties are studied by means of induced perturbations specic to each sensory feedback loop by using system identication methodology. The work is supported by the Swedish Medical Research Council and the Faculty of Medicine, Lund University.

Process control
Center for Chemical Process Design and Control (CPDC)
Researchers: Karl-Erik rzn, Tore Hgglund, Ari Ingimundarsson, Rasmus Olsson, Hlne Panagopoulos, Henrik Sandberg, Anders Walln, and Bjrn Wittenmark

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Research The Center for Chemical Process Design and Control (CPDC) is sponsored by the Swedish Foundation for Strategic Research (SSF) and is a cooperation between about ten departments at Chalmers University of Technology, Lund Institute of Technology, and Royal Institute of Technology. The program is administrated from Department of Automatic Control, LTH, and the program director Anders Karlstrm is located at Chalmers. The purpose of the program is to look at the interplay between design and control of processes in the chemical process industry. Within CPDC chemical process industry is considered in a wide sense. The program is divided into two main lines of research, continuous processes and batch processes. In the area of continuous processes the applications are mainly within the pulp and paper industry and the batch processes are in the area of manufacturing of chemical substances for medical purposes and for uses in the pulp and paper industry. More information about the program is available at [Link] The projects supported by the CPDC program are:

Modeling and control of the drying sections of a paper machine Loop and quality assessment
Dead-time compensation in process control Interaction measures in process control

Reduction and aggregation of process models Control system design

PID control Autonomous control

Control and diagnosis in batch processes

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Research Interaction measures in process control

Researchers: Bjrn Wittenmark in cooperation with Mario Salgado, Universidad Tcnica Federico Santa Maria, Valparaiso

In the process industry there is a great need for determining suitable structures of controllers. In many cases diagonal or block-diagonal controller structures are desired. In the literature there are many different methods for pairing of inputs and outputs. In this work a new form of interaction measure for multiple-input-multiple-output systems is introduced. The interaction measure, Hankel Interaction Index array, is an extension of the relative gain array (RGA). The advantage with the new measure is that it takes the frequency behavior of the system into account when deciding the input-output pairing of a system. The derivation is based on a gramian based interaction measure, but modications are done which better reect the controllability and observability of the subsystems in the process. Modeling and Control of the Drying Sections of a Paper Machine
Researchers: Alessandro Pontremoli, on leave from University of Rome, and Bjrn Wittenmark, in cooperation with Krister Forsman, ABB Automation Systems

The main purpose of this project has been to model a steam heated cylinder, which was taken as part of a drying section, moreover the design and structure of an existing process has been taken into consideration. To develop this work the Modelica software has been used. Particular attention has been paid to reproduce the two time constants behavior of the dynamics in the pressure control loop. This behavior has been observed in existing industrial processes. Other dynamics in the system include; uid dynamics concerning momentum ow, convictive heat ow and pressure, heat dynamics concerning heat ow and temperature inside the cylinder shell has been included. The basic control volume, ow, and medium models are all inherited from the ThermoFlow library, which is still under development at the department. 28

Research The control is done via a PI controller and the lambda tuning method is used to tune it. The performance of the whole system was improved. The main contribution of his thesis is to link previous works, which concern paper web modeling and others that concern modeling of thermohydraulic systems. Rejection of narrow-band disturbances subject to uncertain time-delays
Researchers: Bjrn Wittenmark in cooperation with Sergio Savaresi, Politecnico di Milano

The problem of designing feedback controllers for the rejection of narrow-band disturbances is considered in this project. The design technique proposed herein is based upon the over-parameterization of a nominal minimum-variance controller, which is designed by means of an ARMA model of a sinusoid in noise. The extra degrees of freedom so introduced are used to improve the robustness of the nominal controller, when the time delay of the plant is subject to uncertainties, by minimizing a minimum-variance performance index along an onedimensional line. PID Control
Researchers: Karl Johan strm, Tore Hgglund, and Hlne Panagopoulos

This project has been in progress since the beginning of the eighties, and resulted in industrial products as well as several PhD theses. Several monographs on PID control that are based on experiences obtained in the project have also been published. During the last year, Hlne Panagopoulos has defended her PhD thesis PID Control Design, Extension, Application, presenting efcient numerical methods for designing PID controllers based on non-convex optimization, as well as extensions of the PID controller to suit oscillatory systems. Applications in paper mills are also provided. Several smaller projects with industrial collaboration concerning implementation aspects of PID control have been initiated during the year.

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Research Autonomous Control

Researchers: Karl Johan strm, Tore Hgglund, and Anders Walln

This project has been inspired by industrial experiences on tuning of PID controllers. The aim is to demonstrate a concept of a singleloop controller with as much autonomy as possible. It is supposed to help the operator start up, tune, and monitor the control loop. The start-up procedure should contain tools that can provide loop assessment in order to detect non-linearities, faulty equipment, poorly tuned processes, etc. Loop monitoring includes actuator diagnosis and performance assessment. The latter function attempts to determine if the loop performs according to its specications and also to compare with historical data and theoretical limits. The autonomous controller contains a wide range of algorithms and methods of quite different nature. It includes traditional real-time computations, sequential methods for loop assessment and tuning, and knowledge-based methods. We have a G2 prototype implementation using extended Grafcet for structuring the control algorithms. A major concern has been to design supervisory logic for the various algorithms. An interface between Matlab and G2 has been developed to increase the computational power. During the last year, Anders Walln has defended his PhD thesis Tools for Autonomous Process Control within the project. Dead-time compensation in process control
Researchers: Ari Ingimundarson and Tore Hgglund

Processes with long dead-time frequently cause problems within the process industry. In practise these processes are controlled by PIcontrollers. Dead-time compensators with superior performance have been around for a long time but the use of these introduces new problems related to the tuning and maintenance. This project has been focusing on the commissioning and tuning of dead-time compensators. Methods of identication of simple process models have been developed. Attention has been given to the robustness aspects of dead-time compensation. Special focus has been on the 30

Research robustness towards error in the dead time. When dead time is uncertain but lies on an interval around a nominal dead time, it has been shown how stability can be guaranteed for a specic dead-time compensator. Dead-time compensators for integrating processes have been considered as well. Finally, the performance of dead-time compensators compared with the PI-controller has been investigated to determine when their use is appropriate. The project is sponsored by the Swedish Foundation for Strategic Research (SSF) within the CPDC project and by NUTEKs research program on Complex Systems. Basic process control functions
Researchers: Tore Hgglund, Ari Ingimundarson, and Hlne Panagopoulos

This project is a part of NUTEKs research program on Complex Systems, performed in collaboration with ABB Automation Products. The aim of the project is to improve basic control functions used in the process industry and to develop new control functions. Three projects have been performed during the year. The rst is the development of an automatic tuning procedure for dead-timecompensating controllers. The procedure is based on step response experiments performed in closed loop, and process identication through the method of moments. The procedure is implemented in industrial DCS systems. The second project treats ratio control. Traditional Ratio stations fail to keep the ratio during transients. A new ratio control structure, the Blend Station, that manages to keep the ratio even during transients has been developed. Results from industrial eld test are shown in Figure 5.4. The Blend Station is patented. The third project treats control of oscillatory systems. A lter, composed of an all-pass lter and a band-pass lter, is designed to perform active control of the undamped modes. The parameters of the lter are obtained from a few characteristics of the frequency response.

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Figure 5.4 Ratio control of a bleaching process in a paper mill using the traditional Ratio station (left) and the Blend station (right).

Control Loop Monitoring

Researchers: Mikael Petersson, Tore Hgglund, and Karl-Erik rzn

This project is funded by TFR/SSF in cooperation with ABB Corporate Research, and consists of an industrial PhD-student position for Mikael Petersson. The focus of the project is monitoring and diagnosis of industrial processes. The work is focused on control loop monitoring and control structure selection. The scenario studied consists of a SISO control loop that contains an additional exogenous signal. The aim is develop methods that automatically decides whether or not the exogenous signal affects the control performance, in which way the exogenous signal affects the control loop, if it is possible to compensate for the exogenous signal by using feedforward, gain-scheduling or cascade control, and nally how much performance that can be gained by the compensation. During 2000, the work has focused on feedforward control, with a patent pending. Currently, the ideas are being implemented in realtime Java for use on both virtual and laboratory processes.

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Research Control and diagnosis in batch processes

Researchers: Rasmus Olsson and Karl-Erik rzn

The aim of this project is to study integrated information and control systems for batch production. Special emphasis will be put on integration of the monitoring and supervision tasks with recipe-based production. Two main issues will be investigated. The rst issue studies the interaction between recipe execution and supervision. A model-based approach will be taken where an internal unit model is used to check the validity of the unit operations in the recipes online. The internal unit model will also be used to structure the representation of the basic interlocking logic for safety monitoring. The second issue concentrates on the use of historical data in monitoring and supervision of batch process. The work in the rst part of the project is a continuation of the work on recipe-based batch processes by Charlotta Johnsson. The work is based on Grafchart, a graphical sequential programming language that and its applications to batch recipe management and resource allocation. The focus of this part of the project is to extend Grafchart by adding different features that support exception handling in batch production. During 2000, an internal model based approach to supervision of recipe execution has been developed and implemented. Control of Biotechnology Processes
Researchers: Lena de Mar, Stphane Velut, and Per Hagander in cooperation with Jan Peter Axelsson, Pharmacia AB, and Olle Holst, Department of Biotechnology, Lund University

Large-scale production of many enzymes and pharmaceuticals can today be made using genetically modied microorganisms. In so called bioreactors, living cells are grown to large numbers and then made to produce the desired substance. Fed-batch operation, where additional substrate is fed to the culture, is often the preferred way of production. To achieve reproducible cultivations with high cell densities and high productivity, it is important to design good strategies for the substratedosage control. A characteristic feature of biological processes is that 33

Research many important process variables are not easily measured on-line, which complicates the design and realization of feedback strategies. A project on substrate-dosage control of fed-batch units with genetically modied E. coli is performed together with Pharmacia & Upjohn, Process R&D. Information of how to change the substrate feed rate is obtained from standard dissolved oxygen measurements by introducing controlled process perturbations. Tuning rules are derived for the control strategy that assume a minimum of process specic information, and the system is analysed for stability. The feeding strategy relies on good control of the dissolved oxygen concentration. Variations in the oxygen dynamics during a fed-batch cultivation often cause tuning problems when using a controller with xed parameters. A control approach based on gain scheduling from the stirrer speed is suggested. The strategy is now implemented at the Departments of Biotechnology and Chemical Engineering, Lund University, at Active Biotech, in Lund and at SBL Stockholm, at Pharmacia AB, Stockholm and Strngns, and tested with different E. coli strains and operating conditions. Good cultivation conditions and high production levels could be obtained from the rst experiment. The strategy is also tested with good results in production scale and for other organisms like bakers yeast and cholera bacteria. The work is funded by NUTEK, Bioprocesser i industrin, and by Pharmacia AB and Active Biotech.

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Research

Robotics
Robotics Research and Nonlinear Systems Research
Researchers: Rolf Johansson and Anders Robertsson, in cooperation with Klas Nilsson, Department of Computer Science, LTH

The laboratory for robotics and real-time systems is centered around an ABB Irb-6 robot and an ABB Irb-2000 robot. Hardware interfaces have been developed to create an open system suitable for control experiments. The computer hardware is VME-based with both micro processors and signal processors integrated into an embedded system for hard real-time control. The system is connected to a network with Sun workstations, which are used for program development and control design. A purpose of the current project is to show how to organize open robot control systems and to verify these ideas by means of experiments. One goal is to permit efcient specication and generation of fast robot motions along a geometric path which requires coordinated adjustment of the individual joint motions. Another aspect of robot motion control is how to to integrate simultaneous control of force and position according to ideas of impedance control in which stability is an important theoretical issue. A major topic in this project is to integrate aspects of control, sensor fusion and application demands. Another project is on the structure and programming of control systems for industrial robots. The problem addressed is how the software architecture and the real-time structure of a robot control system should be designed to allow easy and exible incorporation of additional sensors and new control algorithms. A software layer between a supervisory sequence control layer and the basic control level has been proposed. Case studies and prototype experiments show promising results and further implementation is going on. A NUTEK-sponsored research program Lund Research Programme in Autonomous Robotics with cooperation partners from Dept Production and Materials Engineering and Dept Industrial Electrical Engineering and Automation and industrial partners was continued during the year. During this year, a new robot (ABB Irb 2400/16 S4C+) was made 35

Research available to the laboratory (courtesy of ABB Robotics).

Real-Time Control
Center for Applied Software Research (LUCAS)
Researchers: Karl-Erik rzn, Bo Bernhardsson, Rolf Johansson, Anders Robertsson, Johan Eker, Anton Cervin, Bo Lincoln, Magnus Gfvert, Anders Blomdell, Leif Andersson, in collaboration with Department of Computer Science and Department of Communications Systems

The Center for Applied Software Research (LUCAS) is a collaboration between the software-oriented parts of three departments at LTH:

Computer Science, Communication Systems, and Automatic Control.

In total around 15 faculty members and 20 PhD students are involved in LUCAS. The focus of LUCAS is industrially-oriented and motivated software research. This includes research on software engineering, software technology, and software applications. Special focus is put on realtime systems, in particular embedded systems, networked systems, and control systems. The work is organized along three thematic areas:

Software Engineering Environments Methods in Software Engineering Real-Time Systems Software

36

Research The rst thematic area focuses on the core areas of integrated environments (tools and methods), object-oriented languages in the tradition of Simula, Beta, and Java, and embedded systems. The research method is focused on experimental implementation and development of relevant theory. Examples of issues that are studied are conguration management, collaboration support, domain-specic languages, frameworks and patterns and Java for embedded systems. The second thematic area is focused on software development processes, methods and architectural issues for development and maintenance of complex software systems. More specically, the research is directed towards the following key areas: software quality, verication and validation, requirements engineering, and software process architectures. The research is approached through empirical studies to understand, assess, and improve software development. The third thematic area is focused on the software aspects of real-time systems, in particular embedded system, networked systems, and control systems. Some examples of topics within the area are real-time kernels and run-time systems for embedded systems, system architectures for real-time control systems in e.g., industrial automation and robotics, integrated approaches to control design and CPU and communication bandwidth scheduling, and verication and validation of real-time systems. The activities within LUCAS consist of research projects in collaboration with industry, center activities, and teaching activities. The projects can span the full range of LUCAS or be focused on one of the thematic areas. The aim of the center activities is to maintain the infrastructure of LUCAS and to disseminate information among the partners. The teaching activities include both graduate-level courses and continued education courses. Industries can join LUCAS at three levels of participation. A gold member is involved in projects over the full range of LUCAS and has a longterm strategic interest in the activities of LUCAS. Silver participants are involved in a single research project, whereas bronze members have access to the LUCAS network in terms of seminars, tutorials, courses, and workshops. Currently, Ericsson Mobile Communications AB and ABB Automation Products AB are gold members. Negotiations are ongoing with a large number of companies. 37

Research Distributed Control of Safety Critical Mechanical Systems

Researchers: Bo Bernhardsson, Magnus Gfvert, and Bjrn Wittenmark, in cooperation with Department of Computer Engineering, Chalmers, Department of Mechanical Elements, KTH, and Volvo Technological Development

This is a subproject within the DICOSMOS project (Distributed Control of Safety Critical Mechanical Systems) supported by NUTEK. This is a cooperation between Department of Computer Engineering, Chalmers, Department of Mechanical Elements, KTH, Volvo, and Department of Automatic Control. As a means to combine methods and theory from automatic control, computer engineering, and mechatronics in the eld of distributed safety-critical control systems, a case-study has been initiated in cooperation with Volvo Technological Development (VTD). The subject of the study is an electrical braking system with integrated anti-lock and yaw-control functionality for heavy duty tractor-trailer combinations. This system is a distributed safety-critical control system by nature. It is believed that the design and understanding of this system can be greatly enhanced by applying and combining methods within the areas of design of dependable computer systems and control theory. The study is expected to result in new general insights in design and development methods for dependable distributed control systems. The case study was started up in 1999 with a literature study and a study of present electrical braking systems at Volvo as a rst step. A study of a present system was presented in a report. During 2000 a fairly detailed simulation model of the vehicle has been constructed and presented in a report. This model will be used to investigate properties of different system designs. Another report presents a proposal on a system architecture based on dependability analysis. Three graduate students are active in the case study: Magnus Gfvert (Department of Automatic Control), Vilgot Claesson (Department of Computer Engineering, Chalmers), and Martin Sanfridsson (Mechatronics Lab, KTH). The work during 2000 was concentrated to 9 weeks when the graduate students worked together at VTD. This enabled a closer cooperation, with the possibility to develop cross-disciplinary ideas and thoughts. 38

Research Integrated Control and Scheduling

Researchers: Anton Cervin, Johan Eker, Anders Blomdell, and Karl-Erik rzn, in cooperation with Sigma Exallon AB, DDA Consulting, and Professor Lui Sha at the Department of Computer Science, University of Illinois UrbanaChampaign

The ARTES project Integrated Control and Scheduling is aimed at practical management of hard real-time demands in embedded software. The project consists of two sub-projects: Feedback Scheduling undertaken by the Department of Automatic Control, Lund University, and Interactive Execution Time Analysis performed by the Department of Computer Science, Lund University. Additional project partners are the two real-time software consulting companies Sigma Exallon AB and DDA Consulting, and Professor Lui Sha at the Department of Computer Science, University of Illinois Urbana-Champaign. The project nances two ARTES PhD students, Anton Cervin at Automatic Control, and Patrik Persson at Computer Science. During 2000, the work on feedback scheduling has continued. A scheduling architecture for real-time control tasks has been developed. The scheduler uses feedback from execution time measurements and feedforward from work load changes to adjust the sampling periods of the control tasks so that the combined control cost of all the controllers is minimized. An LQG-control formulation is used. Other issues that have been studied are the performance of EDF scheduling in overload conditions and the effects of deadline misses on control performance. The work on a MATLAB/SIMULINK based simulator for integrated simulation of controlled processes, control algorithms, and the timing effects caused by a real-time operating system has continued. During this year Anton Cervin has presented his Licentiate Thesis and an invited session has been arranged at CDC 2000.

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Research Application Specic Real Time Systems: Programming of Control Systems

Researchers: Johan Eker, Anders Blomdell, and Karl-Erik rzn

The topic of the project is development of exible programming languages and environments for implementation of real-time control systems. PLSJ, a software environment for rapid development of embedded real-time control systems and has been developed within the project. Friend, the next generation of Plsj/PAL, is a small block based language designed for implementing exible embedded control systems using contracts and negotiation. It is designed to support for the implementation of exible and adaptive embedded control systems. Requirements on a controller are specied using contracts. The use of contracts simplies the design and implementation of embedded systems that can adapt to altered operating conditions. The contracts allow the system to negotiate about resources, and redistribute them when necessary. An experimental setup is currently being designed around a Koala mobile robot from the Swiss company K-Team. A Java virtual machine designed for real-time use, the IVM, developed by Anders Ive at Department of Computer Science is currently being adapted to run on the Koala robot. The idea is to let the robot communicate with a host system or other mobile units through Bluetooth. The IVM is also being used as the platform for the development of a deadline-based real-time kernel. Networked Control Systems
Researchers: Bo Lincoln, Johan Eker, Anders Blomdell, Anton Cervin, Bo Bernhardsson, Bjrn Wittenmark, and Karl-Erik rzn

As computer networks evolve and get cheaper and more powerful, they tend to be used for purposes for which they were not designed for example transmitting automatic control data. This project is focused on using wireless or xed networks in the control loop, and dealing with two major problems:

How to cope with the inherent problems of networks, such as delays and unreliability.
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Research

How to improve the control performance of networks, by for example doing automatic data scheduling.
The aim of the projects is to make it easy (by tools or methods) to design control systems which use networks for data transfer. So far, we have developed methods to solve small optimal switching (data scheduling) problems and we have developed optimal control design for networks with long delays. A particular emphasis of our work has been Bluetooth. A Java-based Bluetooth stack has been developed. Bluetooth has also been evaluated in different laboratory setups.

Applications
Automotive Systems: Adaptive Cruise Control and Driver Models
Researchers: Rolf Johansson and Johan Bengtsson, in cooperation with A. Sjgren, Volvo Technical Development, Inc., Gothenburg

This project is directed towards adaptive cruise control for automotive application in dense trafc and in conditions of automated highways. Radar sensing with Doppler-shift measurement permits feedback to maintain relative distance and relative velocity to vehicles ahead. A stop-and-go controller for adaptive cruise control has been developed, tested and reported. Current work is directed towards driver-model support. Control of Gasoline Direct Injection (GDI) Engines (FAMIMO)
Researchers: Magnus Gfvert and Karl-Erik rzn

FAMIMO (Fuzzy Algorithms for MIMO Control Systems) is a 3.5 year Esprit reactive long term research (LTR) project that started 961201 and nished 000601. The project has four academic partners and one industrial partner, Siemens Automotive in Toulouse. The project is organized along two benchmark studies: control of a gasoline direct injection (GDI) engine and control of a wastewater fermentation process. 41

Research During 2000 the work in the project has focused on control of the GDI engine. A GDI engine can operate in two main modes: homogeneous mode and stratied mode. The homogeneous mode corresponds to the combustion principle of a normal PFI (Port Fuel Injected) gasoline engine where fuel is injected during the air intake stroke. In the stratied mode, fuel is injected during the compression stroke which makes it possible to employ high air/fuel ratios, leading to lower fuel consumption. The GDI engine is more complex than an ordinary PFI engine and therefore requires a more advanced control system. Special care must be taken to the combustion mode switches. The goal is to design an engine management system (controller) that follows the reference signals from the driving cycle while minimizing fuel consumption and emissions, and maintaining the driving comfort. During 1998-99 a linear control design were developed. During this year the design has been further elaborated. An extremum control approach is used to obtain low fuel consumption in stratied mode. An idle speed controller has been developed. The control design has been evaluated on the European driving cycle scenario with very good results.

Motion Control of Open Packages Containing Fluid

Researchers: Mattias Grundelius and Bo Bernhardsson

Motion control systems are common elements in manufacturing systems. They have a signicant inuence on quality and production capacity. Traditionally, motion control problems were solved with pure mechanical devices, but there are now many interesting alternatives that combine mechanical systems with different forms of motors and control systems. Such systems are typical cases where trade-off of control and process design is very important. The focus in the project has been movement of open packages containing liquid. All packages in the machine follow the same acceleration prole. Between the lling station and the sealing station the package is moved one or several times. The aim is to nd the acceleration prole that minimize the movement time with a maximum allowed slosh. 42

Research The results have been implemented and used by Tetra Pak both in nal products and during prototype development for new products. The implementation has resulted in improved production speed. It has also been accepted as being conceptually sound by the development engineers. Equipment that can measure the surface elevation has been acquired. A simple slosh model has been derived. Both minimum-time and minimum-energy acceleration proles have been calculated. The various acceleration proles have been evaluated in the experimental setup with good results. Comparison with the acceleration proles used in practice has also been done showing the advantage of the calculated acceleration proles. The model used when calculating the acceleration proles is very simple and therefore the calculated acceleration proles do not perform as expected if the slosh is large. To overcome this two Iterative Learning Control (ILC) algorithms have been developed which successfully increases the performance. The project is funded by NUTEK and is performed in collaboration with Tetra Pak Research & Development AB in Lund, who has supplied the experimental equipment and valuable process knowledge. Cardiologic Analysis and Modeling
Researchers: Rolf Johansson in cooperation with Dr. Magnus Holm and Prof. S. Bertil Olsson, Dept. Cardiology, Lund University Hospital

This project is directed towards chronic atrial brillation (CAF), one of the most common cardiac arrhythmias in man and associated with increased morbidity and mortality. Previous studies in animals have shown that experimental atrial brillation is based on different types of intra-atrial electrical re-entry. By exploring the activation of the right atrial free wall during open-heart surgery in patients with CAF and an underlying heart disease, we conrmed the presence of reentry mechanisms. In addition, areas with organised activation were identied. The nature of the organised activation suggested re-entry in an anatomical structure, like the right annular bundle surrounding the tricuspid valve. In patients without signs of organised activation, multiple activation waves continuously re-enter due to functional 43

Research properties of the atrial myocardium. An interesting result was that we failed to demonstrate that anisotropy in conduction velocity be a general property of the epicardial right atrial free wall of the intact human heart in patients with stable sinus rhythm as well as in patients with CAF.

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6. External Contacts
The roles of the universities in technology transfer has recently been emphasized in Swedish research policy as the third mission (tredje uppgiften). This means that we now also have responsibility for transfer of research to industry. At present we have a healthy mixture of fundamental and applied work. The purpose of the theory activity is to develop new ideas, concepts and theories that capture the essence of real control problems. We are of course delighted to nd applications of the theory but the focus is always on methodology. In the applications projects the goal is to solve real control problems together with external partners. In these projects the problems are approached with an open mind without glancing at particular methods. One purpose is to learn about real problems, another is to learn about new problems that are suitable for theoretical research. The applications projects also provide very good background for our educational activities. Technology transfer takes many forms. One is to take results from our research and present them so that they are easy to use. Probably the best way to do this is through personal exchange between industry and university. Students are a very effective vehicle for the transfer. Realizing that the majority of the research is done outside Sweden another important role for universities in a small country is to take existing knowledge and organize it in such a way that the results can easily be digested by engineers in industry. There is naturally a strong symbiosis with teaching in this activity. A good mechanism is thus to introduce new research material into existing and new courses. A related form of technology transfer is to write books and monographs and to develop software. We have been active in technology transfer for a long time, good examples of this type of exchange where we have transferred ideas are self-tuning control, automatic tuning, and computer-aided control engineering. More details have been presented in previous activity reports. 45

External Contacts

Industrial Contacts
We have very good working relations with several companies and organizations. The interaction are at many different levels and intensities, from visits and discussions to joint projects. Master theses and education are also important ingredients. This year we have made substantial efforts to increase the industrial interaction. During the year we have had major projects with ABB Automation Systems, ABB Automation Products, ABB Corporate Research, ABB Power Systems, ABB Robotic Products, ABB SuHAB, Active Biotech Research AB, Akzo Nobel-Eka Chemicals AB, DaimlerChrysler, Danfoss AS, DDA Consulting, Dynasim AB, Elforsk, Ericsson Mobile Communications, Gensym Corp., Pharmacia & Upjohn, Sigma Exallon AB, Siemens Automotive, SINTEF, Sydkraft, TAC, Telelogic, Tetra Pak Research & Development, Volvo Technical Development. We have had smaller projects with 46

External Contacts Astra Draco, Astra Hssle, Alfa Laval Thermal, Cellavision, Comsol, Haldex Traction, MEFOS, Modo Paper Husum, Novotek, Pulp and Paper Industries Engineering Co. (STFI), SIK Institutet fr livsmedel och bioteknik AB, Stora Hylte AB Vattenfall. and meetings and discussions with many other companies.

European Collaboration
We are a member of the ESPRIT long term project Heterogeneous Hybrid Control (H2C) with three academic partners and DaimlerChrysler as an industrial partner ([Link] We are members of the Research Training Network Nonlinear and Adaptive Control (NACO2) coordinated by Imperial College, London. We have been a member of the ESPRIT project FAMIMO, Fuzzy Algorithms for MIMO Control Systems, that ended in June 2000. The project has four academic partners and one industrial partner, Siemens Automotive in Toulouse ([Link]

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48

7. Looking back on Robotics Research

As robots provide tangible demonstrators of the merits of control for audiences at all levels of scientic sophistication ranging from kindergarten to students and to faculty members, the Robotics Laboratory of Department of Automatic Control is one of the favorite meeting points for visitors and guests. Robotics is a research area with intimate relationships with control and computer science, yet with an independent multidisciplinary character. Beside the mechanical nature of robots, robots requires all the cybernetic elements of control, communication and computation and robotics can never be reduced to a mere application of control theory. Apart from control science, successful robotics require efforts in mechanical design, motor drives or other actuators, sensor technology and software engineering. Therefore, the history of robotics at our department is closely relate to the history of the enabling technologies, including the projects and researchers that contributed to the developments. In this perspective, the progress within digital control, real-time systems, visual feedback, and control of mechanical servos, deserves some attention. The preliminaries of robotics at the Department of Automatic Control have at least a history of 30 years.

7.1 Preliminaries (19701984)

To the purpose of the educational laboratory, Leif Andersson made DEC servo equipment with an interface to analog computers. The DC servos permitted sensor feedback of position and velocity and were used for many years in the basic course for most students. Another important prelude to robotics was the design of the ball-and-beam process which was designed by Johan Wieslander and Karl Johan strm with 49

Looking back mechanical design and construction by Rolf Braun and Hans Libelius, technician at our neighboring Dept Sold Mechanics. Much of this design work was done in the framework of Johan Wieslanders thesis work and the equipment brought early attention to problems of nonlinear control and real-time control. Early control was made by means of computerbased control using a PDP15 from Digital Equipment, Inc. Computer-based control with all attempts to connect computers to control equipment and other peripheral devices also stimulated networking. Early efforts in network-based control was made by Rolf Syding, Ulf Borisson, Leif Andersson and colleagues in effort to control an ore crusher of LKAB a mining company in northern Scandinavia. By connecting the ore crushing plant over the telecommunication network, a geographically long feedback loop (>3000km) was connecting to realtime control in a PDP15 computer. Rolf Braun designed an actuator interface. During his time as graduate student, Lars Nielsen made early efforts in visual servoing, partly in cooperation with Gunnar Sparr, Dept Mathematics, Lund. During his thesis work, Lars Nielsen developed a small, but impressive in terms of its purpose, mobile robotics laboratory. After his postdoc visit to CalTech in 1986, Nielsen returned to Lund and took initiatives to continued robotics research in cooperation with Ola Dahl and Klas Nilsson who had joined Department of Automatic Control as PhD candidates. The focus now was industrial robotics, which includes most of the challenges within mobile and autonomous robotics, but also brings forward industrial relevance and performance demands. With the new focus, with the PhD students Ola Dahl and Klas Nilsson, and with a great interest from Karl Johan strm, Lars Nielsen, Rolf Johansson and other faculty members, new experimental facilities were created. After his dissertation on multi-variable adaptive control in 1983, Rolf Johansson started theoretical work in nonlinear control with an application perspective on mechanical systems. Another source of inspiration came from biological inspiration acquired from his experience in neuroscience research. New algorithms and analytical results for adaptive control and nonlinear optimal control were published in 1987-1990. 50

Looking back

7.2 Early days of the Robotics Laboratory at Department of Automatic Control (19831992)
Initiated by Karl Johan strm and with a great interest and support from Lars Nielsen, Rolf Johansson and others at the department, the rst industrial manipulator was acquired from ASEA in 1984. At ASEA there was an increasing need for computer-based control engineering tools, which was something that was being developed at the department. When the rst industrial robot, an ASEA Irb-6 (designed around 1978) equipped with the S2 control system designed during 1981-82, was acquired, it was actually made in exchange of the control design and simulation software packages (Simnon, Synpac, Modpac, and Polpac) developed and sold by the department. At ASEA, it was the manager of technical development, Hans Skoog who approved the deal proposed by Klas Nilsson. Also, the rst PhD student with a clear focus on robot control started, namely Ola Dahl started in 1984. Klas Nilsson, who had been a student at Lund made his master thesis work at ABB Robotics, and started his professional career as a control engineer at ABB Robotics. Few individuals have greater credit than Klas in the creation of a Robotics Laboratory. While still at ABB Robotics, Klas was instrumental already in early use of the Irb-6. When beginning as a graduate student at the department in 1988, he started work on hardware modication to permit highly modiable control software [Link] beginning as a graduate student at the department in 1988 with Lars Nielsen as graduate advisor, he started work on hardware modications to permit highly congurable control software architectures. Important interfacing work was made in cooperation with Rolf Braun. There was an earlier interface of a pure analog type, permitting some experiments in restricted parts of the working range of the robot. Since Klas knew the inner workings of the system, it was possible to interface external computers with the safety logic of the embedded controller. Important interfacing work was made in cooperation with Rolf Braun who replaced all original electronic hardware (except for power electronics). This work on the Irb-6 started in 1990 and the Irb2000 was modied in 1992. 51

Looking back During his time as a graduate student under guidance of Ioan Landau (CNRS at ENSIEG-LAG, Grenoble, France), Carlos Canudas de Wit spent the greater part of 1985 in Lund as a guest of Karl Johan strm. He was using methods of system identication and friction modeling to develop friction compensation in servo applications. Interaction with Rolf Johansson, who at that time was developing system identication methods for continuous-time models, combined with Carlos interest in friction modeling and eventually this gave rise to the LuGre friction model. Steve Murphy who was then graduate student at RPI under supervision of Prof. George Saridis spent the academic year 1987-88 in Lund. After his graduation from RPI, and after some time at Fanuc Robotics, Detroit, MI, Steve joined ABB Robotics, rst some time at the US ofce and then participating in the main development in Vsters. Steves responsibilities at ABB Robotics have included many aspects of control, dynamic models, and software engineering. He is now a chief engineer at ABB Robotics in Gothenburg where he works with so called virtual robots/controllers, digital factories, and the Robot Studio product. In 1992, Ola Dahl presented his thesis on constrained robot control with interesting ideas on trajectory generation. In the same year, Lars Nielsen left our group to take up a position as Professor in vehicular systems at Linkping University. Soon after, eager to get industrial experience and to try other elds of control, Ola left the department to work as an control systems consultant. In the late 80s, Gunnar Sparr continued research in computer vision that had started and, in due course, he formed his own, very successful, group on image processing at Department Mathematics. This group has maintained an active interest in robotic vision, and recent approaches include an increased amount of collaboration between our departments. Even though the Irb-6 robot was extensively used in teaching and research, it was rather limited in terms of working range, degrees of freedom, and dynamic properties. In 1990, Klas therefore started NUTEK projects and used his ABB contacts to get a more modern robot, which rst was rented and then bought. It was an Irb-2000 with an S3 control system. Earlier at ABB, Klas played a leading role in the early 52

Looking back design of the S3 controller, so also in this case he knew the internal interfaces, and started a major effort with Rolf Braun in reconguring also the new, bigger robot to permit advanced control experiments. The robotics laboratory now included two robots placed adjacently to one another. Proposed by Lars, the two robots where named Stor-Klas and Lill-Klas (Big Klas and Little Klas after a Scandinavian comics strip), to honor the one that spent, perhaps too many, weeks on the reconguration. At this time, however, there was a decreasing interest in robotics within the department. On a longer term, there was even the risk of the laboratory being closed down. But with a genuine interest in robotics, Rolf Johansson and Klas Nilsson decided to continue and to expand. New projects were dened and further efforts in widening the scope of the research was made, as described in the sequel.

7.3 The Integrated Robotics Laboratory at Lund (1992)

The robotics group of Department Mechanical Engineering, headed by Prof. Gunnar Bolmsj and dating back to 1987, originally had a orientation towards manufacturing gradually developed towards a strong interest in software tools for application programming-in particular, off-line programming and simulation environments. At Department Industrial Electrical Engineering and Automation, there were activities in electrical drives and sensor technology. At that department, Gunnar Lindstedt was working with ultrasonic sensors for object recognition in robotic work cells, and he also helped with programmable hardware for the Irb-2000 interfaces. Over the years, the collaboration with Gunnar and Prof. Gustaf Olsson, previously with Department of Automatic Control, has been very rewarding. In 1993, coordination of the groups was stimulated by funding from the Nutek program "Mobile Autonomous Systems" and Rolf Johansson was appointed as a coordinator. Anders Robertsson joined the group as a graduate student with a strong background in nonlinear control. Magnus Olsson and Krister Brink and, later, Per Cederberg participated as graduate students at Department Mechanical Engineering. Efforts to merge ideas on feedback control and off-line programming were started. 53

Looking back Jan Peter Meeuwse, Bart Hendricks, Olof Laurin made master theses in the Robotics Laboratory under guidance of Klas Nilsson and Rolf Johansson. The research got support from ABB Robotics under the direction of Dr. Torgny Brogrdh. One memorable event in 1996 was the visit of an evaluation committee from Nutek headed by the Program Manager John Graffman and with the veteran robot engineer Joseph Engelberger, retired manager and designer of Puma robots. For all robotic activities, real-time systems have been an important part of the research, and robot control appear to be among the most realistic case of industrial control implemented within the department. The aim for more exible and open real-time control systems inspired to new solutions for dynamic linking, as proposed by Anders Blomdell and Klas Nilsson. Another exible solution, the so called Plsj system permitting on-line changes of control software, was developed by Anders Blomdell and Johan Eker. Efforts by Klas Nilsson, Anders Blomdell, Johan Eker, and Olof Laurin provided solutions for dynamic linking which was a prequisite to on-line change of control. Anders Blomdell and Johan Eker developed Plsj for programming of tasks of control applications. Albert-Jan Baerveldt with his PhD from ETH, Zrich, Switzerland and Angel Valera with a PhD from UP Valencia, joined the group as postdoc scientists in 1993 and 1998, respectively. Norberto Pires with a PhD from Coimbra, Portugal, has been on research visit to the Robot Laboratory at a couple of different occasions, latest in 1999. The software effort eventually permitted the laboratory to be open, not only to hardware or software components, but also to scientists. In 1996, Klas Nilsson defended his PhD thesis "Open Robot Control Architectures". Based on the observation that robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks, the thesis had a strong emphasis on software engineering. The structure of early control systems, however, limited the applicability of robots, thus leaving many human-unfriendly operations to be performed manually. This thesis took a problem-oriented approach, without enforcing use of formal methods. Considering industrial demands, such as computing efciency and simple factory-oor operation, a layered system architecture and 54

Looking back technical solutions to accomplish it are proposed. A notion of user views was introduced as the basis for denition of the layers, the layers supporting programming on levels ranging from implementation of motor control and up to end-user programming. An experimental platform, built around industrially available robots, was developed. Specially developed hardware interfaces and recongurations of the original (ABB) system were made to permit control and programming even for lowestlevel motion control.

Run-time efciency within the proposed open and layered system was achieved by a novel concept called actions. Actions were pieces of compiled code that, by use of certain compiling and linking techniques, could be passed as parameters between the layers. The required interplay between application specic programs and built-in motion control could therefore be accomplished. A number of case studies and results from ongoing experimental evaluation indicated that the proposed control system principles were very useful also in industrial contexts.

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Looking back

After Klas Nilssons dissertation in 1996 and after some months with ABB Robotics, Klas joined the Department Computer Science as an assistant professor. In this capacity, he has maintained an active interest and activity in the laboratory. His postgraduate orientation towards real-time systems and safe programming languages, in particular Java technology, is an important asset. The collaboration between control and computer science is active and increasing. Anders Robertssons PhD thesis entitled "On Observer-Based Control of Nonlinear Systems (1999) addressed problems of observer design and observer-based control for nonlinear systems, the deterministic continuous-time systems being in focus. A generalization to the observer-backstepping method with the controller designed with respect to estimated states was treated. Moreover, velocity observers with application to mechanical manipulators vehicles were presented. Anders continued his postgraduate career in Robotics Laboratory with his participation in projects on robotic force control. In the year 2000, an Irb-2400 robot with an S4C+ controller was kindly made available by courtesy of ABB Robotics. Modications of the system was this time made together with ABB at their site, maintaining 56

Looking back compatibility with the existing system. This development was mainly accomplished by Anders Robertsson (with nicknames Robotsson and Robban) spending many weeks in Vsters. Following the custom of naming the robot to honor the one who made most of the system engineering, the robot got the nickname "Robban". The new robot was placed in the space belonging to the Department Mechanical Engineering, a tangible example of the integrated and multidisciplinary prole of the robotics activities as formed by a relatively small group of people for further successful robotics research in the new millennium.

7.4 Research Impact and Industrial Collaboration

ABB Robotics has been remarkably successful and has had for signicant time more than half of the world market in heavy robot equipment with a particularly heavy market penetration in car manufacturing. As for applications, ABB robot systems have proved competitive in arc welding, spot welding, gluing, material handling, and machine tending in increased capacity, enhanced quality and exibility. Some of the people behind this success have a background from our department. Hans Skoog who later became prominent in engineering and management at ABB Robotics made his master thesis in 1967 in the area of adaptive control. The S4C+ is the latest in a long line of ABB robot controllers and it is designed to match the physical capabilities of the robot range. The S4C+ tries to optimize cycle time and path accuracy and it tries to be readily integrated into factory automation plan. The S4C+ is a compact, congurable, modular system physically organized with a control cabinet and control pendant are used for all ABB robots. There are many aspects in common between the work of Klas Nilsson and the current ABB approaches, and the work on open robot control system architectures provides appropriate such techniques. Currently, cooperation with ABB continues with Klas and Anders frequently visiting for on-site system R&D. We are happy to stay in touch with the friendly atmosphere at ABB Robotics, and in particular, 57

Looking back we are very grateful for the way Dr. Torgny Brogrdh promotes research and long-term development issues within ABB.

7.5 Acknowledgment of Project Support

Among important sources of nancial support:

Lund Research Programme in Autonomous Robotics (NutekMobile Autonomous Systems Open Control Architectures (Nutek-Complex Technological Systems) Sensor-based Integration and Task-level Programming (NutekComplex Technological Systems) Nutek-RAS: Open Control Systems, Off-line Programming and Real-Time Control Nutek-KTS: Force control
The Nutek projects have long been very helpful to our Robotics Laboratory in their support of research with intellectual quality and industrial application.

7.6 References on Robotics Research

Dahl, Ola: Path Constrained Robot Control. PhD thesis ISRN LUTFD2/TFRT--1038--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, April 1992. Hendriks, Bart: Implementation of industrial robot control. Master thesis ISRN LUTFD2/TFRT--5555--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, March 1996. Johansson, Rolf: Adaptive control of robot manipulator motion. IEEE Transactions on Robotics and Automation, 6:4, pp. 483490, 1990. 58

Looking back Johansson, Rolf: Quadratic optimization of motion coordination and control. IEEE Transactions on Automatic Control, AC-35:11, pp. 11971208, 1990. Johansson, Rolf, and M. W. Spong: Quadratic optimization of impedance control. In Proc. IEEE Int. Conf. Robotics and Automation, pp. 616621, San Diego, California, May 1994. Laurin, Olof: ppna regulatorer fr inbyggda system, (Open controllers for embedded systems). Master thesis ISRN LUTFD2/TFRT--5528--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, April 1995. Mrtensson, E.: Aktiv dmpning av svngningsmoder i en robotarm, (Active damping of oscillation modes in a robot arm). Master thesis TFRT-5359, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, December 1986. Meeuwse, Jan Peter: Algorithms and tools for control of exible servo systems. Master thesis ISRN LUTFD2/TFRT--5531--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, July 1995. Nielsen, Lars: Simplications in Visual Servoing. PhD thesis TFRT1027, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, September 1985. Nilsson, Klas: Analysis and synthesis of the dynamics of an industrial robot. Master thesis ISRN LUTFD2/TFRT--5292--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, March 1983. Nilsson, Klas: Industrial Robot Programming. PhD thesis ISRN LUTFD2/TFRT--1046--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, May 1996. Nilsson, Klas, and Rolf Johansson: Integrated architecture for industrial robot programming and control. J. Robotics and Autonomous Systems, 29, pp. 205226, 1999. 59

Looking back Robertsson, Anders: On Observer-Based Control of Nonlinear Systems. PhD thesis ISRN LUTFD2/TFRT--1056--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, December 1999. Skoog, Hans: Analys av Margolis Leondes adaptiva reglersystem, (Analysis of Margolis Leondes adaptive systems). Master thesis ISRN LUTFD2/TFRT--5021--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, October 1976.

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8. Dissertations
Three PhD theses were defended by Anders Walln, Hlne Panagopoulos, and Erik Mllerstedt; and one Lic Tech was completed by Anton Cervin. The abstracts are presented here in chronological order. Tools for Autonomous Process Control Anders Walln PhD dissertation, February 18, 2000
Opponent: Prof. Guy Dumont, University of British Columbia, Vancouver, Canada. Committee: Prof Mogens Blanke, Dept. of Control Engineering, Aalborg University, Denmark; PhD Lars Pernebo, ABB Automation Products, Malm, Sweden; PhD Stefan Rnnbck, AssiDomn, Pite, Sweden.

There is an ongoing trend towards higher automation level in process control systems. The reason for introducing more autonomy is to make the operators work more efciently and to extend the region where the plant can be operated satisfactorily without the operators assistance. This thesis treats different aspects of autonomous process control. The focus is on autonomy at the local control loop level. A list of desired functionality for an autonomous single loop controller is presented. This list consists of methods for initialization, assessment of basic process features, selection and tuning of on-line controller, monitoring of the online control performance, and fault diagnosis. Implementation aspects and software architecture of an autonomous single loop controller are also discussed. In particular, sequential control using the graphical language Grafchart is studied. 61

Dissertations An interactive tool for preliminary assessment of the process dynamics is presented. A simple dynamical model, possibly combined with a static non-linear function, can easily be obtained from one or more step response experiments. The model can be used for calculating parameters for a PI or PID controller. A new method for automatic tuning based on relay feedback is developed. A relay with time-varying hysteresis is used in order to achieve excitation over a large frequency interval. An estimation of the frequency response of the process is obtained by frequency domain identication. This estimation is used together with optimization methods for robust PI and PID controller design. A simple strategy for fast set point response is presented. It mimics what experienced process operators often do manually to obtain fast set point step responses with no overshoot. The strategy consists of a short sequence of steps in the control signal. Conditions for good switching times are given. These conditions can be applied with varying degrees of process knowledge.

PID Control Design, Extension, Application Hlne Panagopoulos PhD dissertation, February 24, 2000
Opponent: Docent Hkan Hjalmarsson, Royal Institute of Technology, Stockholm, Sweden. Committee: Prof. Alina Besancon-Voda, Laboratoire dAutomatique de Grenoble, France; PhD Per Persson, Volvo, Gothenburg, Sweden; Prof. Bengt Lennartsson, Institute of Automatic Control, Chalmers, Gothenburg, Sweden.

This thesis considers the design of PID controllers, the extension of these controllers to improve their performance, and the applications of these design methods to industrial processes. 62

Dissertations New tuning methods for PI and PID controllers have been presented. These methods uses a model of the process to be controlled, given as a transfer function. The methods captures essential requirements of a control system, such as: load disturbance response, robustness with respect to model uncertainties, measurement noise response, set point response. The primary design goal of the proposed design methods are to achieve good rejection of a load disturbance with the constraint on robustness to guarantee the stability of the closed loop system. The use of PID control have been extended to bridge the gap between it and the theoretical H control. It is shown how the robustness constraint of the proposed design methods for PI and PID controllers should be chosen to guarantee that the weighted H norm of the transfer function from load and measurement disturbance to process inputs and outputs is less than a specied value . A new way o determine for which class of system a PID controller will be stabilizing is also presented. Furthermore, the use of PID control have been extended o handle processes with undamped modes. A modular approach has been taken, where an active control system has been designed, which consists of an all-pass lter and a bandpass lter. To determine the parameters of these two lters the only information needed is a few characteristics of the process frequency response. The proposed design methods for PI and PID controllers have been evaluated in a benchmark for control of steam generator water level in a power plant, and at the pulp and paper company Modo Paper, in Husum, Sweden.

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Dissertations Towards the Integration of Control and Real-Time Scheduling Design Anton Cervin Lic Tech dissertation, May 26, 2000
Opponent: Prof. Gerhard Fohler, Mlardalens Hgskola, Vsters, Sweden.

The thesis deals with scheduler and controller codesign for real-time control systems. The overall goal is higher resource utilization and better control performance. One goal is to minimize the performance loss due to jitter and control delays. Another goal is to relax the nominal requirements on hard deadlines and xed worst-case execution times. A third goal is to provide a co-simulation environment for realtime control systems. Sub-task scheduling of the two main parts of a control algorithm is investigated. A heuristic, iterative deadline-assignment algorithm is given that attempts to minimize the computational delay for a set of control tasks. A simulator for co-design of real-time control systems is presented. It facilitates simultaneous simulation of real-time task execution and continuous plant dynamics. The simulator makes it possible to evaluate the true, timely behavior of control algorithms, and to evaluate scheduling policies from a control performance perspective. A feedback scheduler for control tasks with varying execution times is developed. Using a combination of feedback and feedforward, the feedback scheduler attempts to keep the CPU utilization at the desired level by manipulating the sampling periods of the controllers. A casestudy with a set of hybrid control tasks for a set of double-tank processes is presented.

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Dissertations Dynamic Analysis of Harmonics in Electrical Systems Erik Mllerstedt PhD dissertation, November 10, 2000
Opponent: Prof. David Hill, University of Sydney, Australia. Committee: PhD Jorge Mari, Adtranz, Vsters, Sweden; PhD Magnus Fontes, Lund Institute of Technology, Lund, Sweden; Mr. Gunnar Asplund, ABB, Ludvika, Sweden.

Frequency domain analysis and design of power systems is complicated in the presence of harmonics, switching dynamics, nonlinearities, unbalances, and for systems with mixed ac/dc dynamics. The reason is that linearization of the system does not lead to a time invariant system, but a system with periodically time varying dynamics, which implies that there is coupling between different frequencies. Often one has to rely on simplifying assumptions and simulation. The thesis uses linear periodic (LTP) models to analyze power systems. The harmonic transfer function (HTF) for LTP systems is introduced. Using the HTF, the system can be treated as an innitely dimensional linear time invariant system, which means that the system, under certain convergence conditions, can be analyzed using the well developed theory for LTI systems. The thesis contains four papers with power system applications. Paper I describes the modeling and analysis of networks including components with switching dynamics, such as diodes and thyristors. An algorithm for parameter estimation from experimental data is presented. Papers II and III treats modeling and analysis of single-phase railway systems. The modeling of the locomotives is performed in collaboration with industry. Paper IV treats analysis and control aspects of a converter for grid connection of a micro-turbine used for distributed power generation. This is a three-phase application done in collaboration with the industry.

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9. Honors and Awards

The paper Robust Automatic Tuning of an Industrial PI Controller for Dead-time Systems by Ari Ingimundarson and Tore Hgglund was distinguished as one of the best papers in the evaluation process of the International Program Committee of IFAC Workshop on Digital Control: Past, Present and Future of PID, Terrassa (Spain), in April 2000. Kuan Luen Ng, Master Student, received the Terry Whodcoat Prize awarded to the best exchange student in the graduating year. The prize was given at Imperial College on the day of graduation, October 25. Master thesis advisor was Rolf Johansson. The IEEE Board of Directors elected Anders Rantzer to IEEE Fellow effective 1 January 2001 with the following citation: For contributions to the theory and computational analysis of uncertain and nonlinear systems. Karl-Erik rzn was appointed as Professor in Automatic Control from June 1, 2000.

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10. Personnel and Visitors

Personnel
During 2000 the following persons have been employed at the department. The list shows the status of December 2000 if nothing else is mentioned. Professors Karl-Erik rzn (from June 1) Karl Johan strm (emeritus) Bo Bernhardsson Per Hagander Tore Hgglund Rolf Johansson Anders Rantzer Jan Sternby (adjunct 20%) (until January 31) Bjrn Wittenmark Associate Professors Mats kesson (until June 30) Karl-Erik rzn (until May 31) Johan Eker Anders Robertsson Research Engineers Leif Andersson Anders Blomdell Rolf Braun Guest Professor Andrey Ghulchak 69

Personnel and Visitors Holder of a scholarship Stphane Velut PhD Students Johan Bengtsson Anton Cervin Lena de Mar Jonas Eborn Mattias Grundelius Magnus Gfvert Sven Hedlund Dan Henriksson (from December 1) Ari Ingimundarson Charlotta Johnsson (until March 15) Bo Lincoln Erik Mllerstedt Hlne Panagopoulos (until July 31) Mikael Petersson Rasmus Olsson Henrik Sandberg (from January 3) Stefan Solyom Hubertus Tummescheit Anders Walln (until April 30) Secretaries Eva Dagnegrd (absent) Britt-Marie Mrtensson Eva Schildt Agneta Tuszynski (part time)

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Personnel and Visitors

Visiting Scientists
The following researchers have stayed with the department for a couple of days by the least. Angel Valera Jan 10Feb 10, 2000 University Politecnica de Valencia, Spain Guy Dumont Feb 1720, 2000 University of British Columbia, Vancouver, Canana Alina Besancon-Voda Feb 2225, 2000 Lab dAutomatique de Grenoble-ENSIEG, Saint Martin dHeres, France Michael Schinkel May 131, Aug 1Nov 30, 2000 University of Glasgow, Great Britain Romeo Ortega May 36, 2000 CNRS-ESE, France Raffaello DAndrea June 1214, 2000 Cornell University, USA Jim Rawlings June 1421, 2000 University of Wisconsin-Madison, USA Geir Dullerud Aug 21, 2000 University of Illinois, USA Pablo Parrilo Aug 27Sep 27, 2000 Caltech, Pasadena, USA John Doyle Sep 610, 2000 Caltech, Pasadena, USA Per-Olof Gutman Sep 2829, 2000 Technion Israel Institute of Technology, Haifa, Israel David Hill Nov 611, 2000 Sydney University, Sydney, Australia

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Personnel and Visitors

Visiting Students
The following foreign students have stayed with the department and followed the courses. Many of them have made their masters theses. Students marked with (E) are from the ERASMUS program, (B) are from bilateral agreement, and Michael Grebeck (B) July 1999 July 2000 Caltech, Pasadena, USA Luca Caputo (E) September 1999 September 2000 Universita Degli Studi, Firenze, Italy Stphane Velut (E) January December 2000 Ecole Nationale Superieure dIngenieurs Electriciens de Grenoble, Grenoble, France Kuan Luen Ng (E) January December 2000 Imperial College, London, Great Britain Franck Rufer (E) January August 2000 Institut National Polytechnique de Grenoble, France Alessandro Pontremoli (E) April September 2000 Universita Degli Studi Di Roma La Sapienza, Italy Zhimin Zhang (B) from August 2000 Beijing Institute of Petrol Chemical, Beijing, China Susana Santos (E) August 2000 April 2001 Universidad de Valladolid, Spain Luis Manuel Conde Bento (E) from September 2000 Universidade de Coimbra, Portugal Antonio Gomez Perez (E) from October 2000 Universidad Politecnica de Cartagena, Spain Duarte Mendonca (E) from October 2000 Universidade de Coimbra, Portugal Domenico Scalamogna (E) from October 2000 Universita degli Studi, Firenze, Italy

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11. Staff Activities

This is a short description of the staff (listed in alphabetic order) and their activities during the year. Publications and lectures are listed in separate sections. kesson, Mats PhD in 1999. His main research interest is modeling and control of biotechnical processes. During the spring, he was working on control of E. coli cultivations in a joint project with Pharmacia & Upjohn. He was also engaged in a research collaboration with the Department of Biotechnology, Lund University. In June 2000, he left the department to work for Biotecnol SA, Portugal. Andersson, Leif MSc, Research Engineer since 1970. Leif started at the department with a responsibility for the teaching laboratory. He designed some lab equipment, notably an analog computer. In 1976 he started in ernest with digital computers, and has been responsible for the department computing facilities since then. His professional activities, apart from computer system maintenance, have ranged from computer typesetting A (TEX and L TEX) via Real Time Programming to using Java as a tool for writing educational software. rzn, Karl-Erik Professor, PhD 1987. Joined the department in 1981. His research interest are real-time systems, Petri nets and Grafcet, fuzzy control, and monitoring and diagnosis. Project leader for the SSF/ARTES project on integrated control and scheduling, for the NUTEK project on programming languages for realtime systems, and for the TFR/SSF industrial PhD project on industrial aspects of monitoring and diagnosis. Member of the steering committee of LUCAS (Center for Applied Software Research). During the year he 73

Staff Activities has personally primarily been involved in the EU FAMIMO project on engine control, in the SSF/ARTES project, and in the formation of LUCAS. He is partly or fully involved in the supervision of ve PhD students.

Bengtsson, Johan MSc, graduate student since April 1999. He is interested in system identication, and he is working in cooperation with Volvo Technical Development on driver models. During the year Johan was teaching assistant in the Automatic Control basic course. Bernhardsson, Bo PhD 1992, Docent in 1998, and Professor in December 1999. Bo works in the areas of linear system theory, real-time control, communication networks, motion control, hybrid control, and applied mathematics. he is project leader for the projects on Analysis of Power Quality and Motion Control described in Section 5. During this year he (co)supervised the PhD students Cervin, Grundelius, Gfvert, Mllerstedt, Lincoln, and Sandberg on topics described in Section 5. During spring he held the undergraduate course in Nonlinear Control and Servosystems and the PhD course in Synthesis. Since April 2000 he is the chairman of the board of Industrial Management and Engineering.

Blomdell, Anders Research Engineer since 1988. Responsible for the department network and lab computers for teaching and research. Professional interest includes man-machine interaction, real-time programming, hardware design, communication protocols, and computer langauges for control engineering. During the previous years, much effort has been spent at enhancing and porting the STORK Real Time Kernel to the various computer platforms used at the department (m680x0, PowerPC, Solaris and WindowsNT). A closely related project is the Modula-2 to C translator used in the real-time research and education at the department. 74

Staff Activities Braun, Rolf Research Engineer at the department since 1969. Designs and builds equipment for education and research, and handles hardware maintenance of computers and equipment. He also plans and supervises maintenance and rebuilding of ofces and labs. Cervin, Anton Lic Tech in May 2000, graduate student since May 1998. Antons research topic is real-time systems, and he is involved in the SSF/ARTES project Integrated Control and Scheduling. During 2000 he has been teaching assistant in Computer-Controlled Systems and in Real-Time Systems. de Mar, Lena MSc, graduate student since August 1999. She is interested in control of biotechnical processes and is working together with Stphane Velut and Per Hagander on control of E. Coli cultivations and other microorganisms. During 2000 she has been teaching assistant in the course Process Control and in Automatic Control, basic course. Eborn, Jonas Lic Tech, graduate student since 1995. Interested in computer aided control engineering, physical system modelling and numerical analysis. He is working in the NUTEK programme Complex Technical Systems and is also involved in the collaboration with Sydkraft AB. During the spring term 2000 he was teaching assistant in the graduate course Physical Modelling of Dynamical Systems and during the autumn in the basic control course. He is also responsible for the seminar schedule of the department. Eker, Johan During 2000 Johan Eker worked as a researcher within the LUCAS project. His main focus was on wireless control application using Bluetooth. This included several student projects and one master thesis project. To facilitate experiment with Bluetooth a Java Bluetooth stack called Harald was implemented. Besides the work on Bluetooth control 75

Staff Activities applications he also spent time on the ARTES Integrated Control & Scheduling project together with Anton Cervin. During the fall he was also teaching assistant and lecturer in the course Real-Time Systems. Gfvert, Magnus MSc, graduate student since July 1996. Magnus is interested in topics on distributed control and Real-Time Systems. Current work deals primarily with automotive applications. During he year he has worked on a case study on a truck braking system, provided by Volvo Technological Development within the NUTEK project DICOSMOS. Magnus spends one week per month at Volvo TD in Gothenburg. He has also worked with control of GDI engines, a benchmark problem provided by Siemens Automotive, within the EU Esprit project FAMIMO. His previous work includes modeling, analysis and control of systems with friction. He is also involved in the development of the computer based interactive tools for control education, ICTools. During the year he was a teaching assistant in System Identication and Real-Time Systems. He also acted as advisor for Peter Odebjer, Johan Svahn and Wael Chatila in their respective Masters Thesis work. Ghulchak, Andrey PhD, Guest Lecturer and Researcher since September 1998. His research interest contains analysis and design of robust control systems, constrained H and multi-objective control, systems with delays as well as the general operator theory and functional analysis. He develops methods and MATLAB software for robust controller design using convex optimization. In 2000 he has been a teaching assistant in the courses Linear Systems I and Basics of Robust Control for PhD students. He has participated in Reglermte (Uppsala) and the IEEE CDC Conference (Sydney). Grundelius, Mattias Graduate student since January 1996. He is interested in control in general and works with optimal control of packaging machines in a collaboration with Tetra Pak Research & Development AB. He has 76

Staff Activities also been teaching assistant in the Computer-Controlled Systems, RealTime Systems and Adaptive Control courses. Hagander, Per Professor, PhD (1973). Per has been with the department since 1968 and works with linear system theory and with applications in biotechnology and medicine. He is the director of studies at the department and also the department contactperson for industrial liasons. Starting Dec 2000 he is the LTH dean of international affairs. Per is responsible for the course Computer Controlled Systems. Since May 1996 he is leading a project with Pharmacia&Upjohn, on multivariable control of genetically engineered E. Coli. The work is also a collaboration with the Department of Biotechnology, Lund University and Active Biotech Research SBL. Here Per works with Mats kesson, who defended his PhD-thesis in December 1999, Stphane Velut, and Lena de Mar. On July 24 his rst grandchild, Tom, was born. Hgglund, Tore Professor, PhD (1984). Has been at the department since 1978 except for four years when he worked for Alva Laval Automation AB (now ABB Automation Products). He is responsible for two of the basic courses in Automatic Control in the engineering program. His main research interests include process control, PID control, Adaptive Control, supervision, and detection. Main research activities during the year have been design of PID and dead-time compensating controllers, and development of supervisory functions for process control. During the year he got a patent on his ratio controller The Blend Station. Hedlund, Sven Lic Tech, graduate student since September 1997. His main research interest is analysis and synthesis of hybrid systems and he is involved in the ESPRIT-project H 2 C, Heterogeneous Hybrid Control. During 2000, Sven has been a teaching assistant in the basic undergraduate course in Automatic Control. 77

Staff Activities Ingimundarson, Ari Graduate student since November 1998. His research interests include process control, dead-time compensation and performance monitoring. Ari has been a teaching assistant in two undergraduate courses: Computer Controlled Systems and Real-Time Systems. Johansson, Rolf Professor, MD, PhD. Active at the department since 1979. Rolf Johanssons research interests are in system identication and in robotics and nonlinear systems. He is coordinating director for a NUTEK-sponsored research program Lund Research Programme in Autonomous Robotics with cooperation partners from Dept Production and Materials Engineering and Dept Industrial Electrical Engineering and Automation and industrial partners. He has industrial cooperation with ABB Robotics, ABB Corporate Research and Volvo Technical Development. He is responsible for the two courses System Identication and Nonlinear Control and Servo Systems in the engineering program. Together with Dr. Mnsson he leads research at the Vestibular Laboratory, Dept. Otorhinolaryngology, Lund University Hospital.

Lincoln, Bo MSc, graduate student since February 1999. He and his advisor Bo Bernhardsson are working on control problems when wireless networks (such as Bluetooth) are involved. Both the problem of controlling the network for e.g. low-delay routing, and the problem of using the network in control loops are considered. He has been a teaching assistant for the course in Nonlinear Systems twice. Mrtensson, Britt-Marie Secretary at the department since 1974, responsible for the maintenance of the department library, ordering books and journals. She handles the mail and ofce supplies for the department. She also works with scanning and drawing gures with the computer. 78

Staff Activities Mllerstedt, Erik PhD in November 2000, Lic Tech, graduate student since 1994. Erik is interested in analysis and control of nonlinear and switching systems with applications in power systems. He is working within the Elforsk project Analysis of Electric Power Quality in Distributions and Loads. From February to April 2000, he was a guest researcher at ABB corporate Research in Baden-Dttwil,Schweiz, working with modelling and control of distributed power generation units. The rest of the time this year he has spent on his thesis Analysis of Modern Power Systems - a Linear Time Periodic Approach, which was successfully defended in November 2000. Olsson, Rasmus MSc, graduate student since 1999. Rasmus area of research is batch control, and he is part of the CPDC-graduate-school. His focus has been on exception handling in recipe-based batch control. He has also been teaching assistant in the undergraduate course Automatic Control. Panagopoulos, Hlne PhD in February 2000, graduate student since September 1995. Her research interest concern both theory and applications. The major research area is in the eld of PID-controller design. Hlne left the department in July to work with Mets-Serla Corporation in rnskldsvik. Petersson, Mikael Graduate student since 1997. Petersson is employed by ABB Corporate Research as an industrial PhD-student. His research interests include monitoring and diagnostics of industrial processes, and applying and evaluating advanced theory in this area. The research has been focused on control structure assessment and particular work has been carried out on feedforward control structure, with a patent pending. Currently, the ideas are being implemented in real-time Java for use on both virtual and laboratory processes. 79

Staff Activities Rantzer, Anders Professor of Automatic Control since 1999. Joined the department in 1993 after a PhD at KTH 1991 and a post-doc position at IMA, University of Minnesota. He has broad interests in modeling, analysis and design of control systems. In particular, he develops methods for treatment of uncertainty and nonlinearities using convex optimization. Anders Rantzer is responsible for the basic course in Automatic Control for electrical engineers and supervises the PhD students Eborn, Hedlund, Mllerstedt, Sandberg, Solyom, and Tummescheit. He is associate editor of two journals and serves on two committees within the university. In May 2000 he organized a workshop in Lund on hybrid control and automotive applications. He gave two plenary lectures and two invited presentations at conferences and workshops. Robertsson, Anders Researcher, PhD 1999. His main interest is in nonlinear control and robotics. Currently he is working on sensor-data integration and force control of industrial robots under the NUTEK Program Complex Technical Systems in collaboration with ABB Robotics. Schildt, Eva Secretary at the Department since 1970. Eva is mainly responsible for the nancial transactions of the department such as bookkeeping and reporting to our sponsors. She handles the personnel administration and takes care of the administration concerning the many visitors at the department. On July 29 her rst grandchild, Samuel, was born. Solyom, Stefan MSc, graduate student since 1999. His main research interests are in piecewise linear systems. In 2000 he joined the H2C project (ESPRIT project on Heterogeneous Hybrid Control) and is engaged in research collaboration with DaimlerChrysler AG, Germany on an ABS system. During 2000 he was teaching assistant in the courses System Identication and Adaptive Control, in the engineering curriculum. 80

Staff Activities Tummescheit, Hubertus Graduate student since 1996, graduate student in Lund since 1998. Interested in physical system modelling, modelling language design and numerical analysis. He is working in the NUTEK programme Complex Technical Systems and is also involved in the collaboration with Sydkraft AB. Since 1997 he is a member of the Modelica Design Group, which became the non-prot Modelica Association this year. The goal of the Modelica Association is the active development of the Modelica modelling language. This year he was the local organizer of the Modelica 2000 workshop in Lund. From January to April he has been visiting the Scientic Research Lab of Ford Motor Company to support the evaluation of the Modelica language in a large scale industrial project. During 2000 he has been teaching assistant in one basic control course. He has also supervised a master thesis on modelling of an evaporative gas turbine plant with Modelica. Tuszynski, Agneta Secretary at the department since 1981. She is responsible for registration of the students course entries and exam results, and supervises the invoice payments from the department. She works with word proA cessing in L TEX, helping colleagues with writing letters, articles, and reports. Agneta is also responsible for Activity Report 2000 together with Karl-Erik rzn. Velut, Stphane research topic is MSc, graduate student since July 1999. Stphanets control of biotechnical processes. He is working together with Lena de Mar and Per Hagander on control of E. coli cultivations. He has has been a teaching assistant in the Automatic Control basic course. Walln, Anders PhD, graduated from the department in February 2000 with a thesis entitled Tools for Autonomous Process Control, which covers different aspects of increasing the degree of automation on the local control loop level. The three main topics in the thesis are: an interactive tool for process identication and design, a new method for automatic tuning 81

Staff Activities using relay feedback, and a simple strategy for fast set point response. Anders left the department for Ericsson Mobile Communications in May 2000. Wittenmark, Bjrn Professor in Automatic Control since 1989. He joined the department in 1966 and took his PhD in 1973. His main research interests are adaptive control, sampled-data systems, and process control. he is working within the projects Timing Problems in Real-time Systems. and Center for Chemical Process Design and Control. He is also chairman of the department.

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Staff Activities

External Assignments
Opponent and Member of Examination Committee Karl-Erik rzn: External opponent on the licentiate thesis by Mr. Thomas Thelin, Department of Communication Systems, Lund University, May 25. Member of the examination board of the Ph.D. thesis by Mr. Esa Falkenroth, Department of Computer Science, Linkping University, June 8. Member of the examination board of the Ph.D. thesis by Mr. Dominique Passaquay, LAAS, Toulouse. Bo Bernhardsson: Member of examination committee for Mattias Nordin, KTH, February 25. Member of examination committee for Torbjrn Norlander, LuleTekniska Universitet. Tore Hgglund: External opponent for the licentiate Evaluation and Tuning of PID Controllers by Birgitta Kristiansson, Chalmers, Gothenburg, and the licentiate thesis Automatic manufacture of fertilizing granules from burnt wood ash by Thomas Svantesson, LTH, Lund. Member of the examination committee for the PhD thesis Condition monitoring of control loops by Alexander Horch, KTH, Stockholm. Anders Rantzer: External opponent for PhD thesis by Mattias Nordin, KTH, February 25. Bjrn Wittenmark: Member of examination board for the dissertation by Ola Wall at the Department of Solid Mechanics, LTH, December 15. Board Member Karl-Erik rzn: Member of the board of ARTES, the Swedish real-time systems research network. Bo Bernhardsson: Member of the board of directors of the programme in engineering physics, Chairman of the board of directors of the programme in Industrial Management and Engineering, and Member of the LTH-initiatives De Yngres Rd and Forskningsfronten all three at Lund Institute of Technology. 83

Staff Activities Tore Hgglund: Member of the Education Board of Computer Science and Technology, and deputy member of the Promotions Committee for FIME physics, informatics mathematics and electrical engineering, both at Lund Institute of Technology. Anders Rantzer: Appointed member of board of governors for IEEE Control System Society. Member of appointment committee and Forskarutbildningsnmnd at LTH. Hubertus Tummescheit: Member of the Modelica Design Group. Organization of the Modelica 2000 workshop, October 2324, Lund, Sweden. Bjrn Wittenmark: Board member of Chematur AB until July 2000. Board member of Lunds Universitets Utvecklings Aktiebolag (Lund University Development Limited) until July 2000. Board member of Lunds Datacentral, LDC, (Lund University Computing Center). Swedish representative of European Union Control Association (EUCA) Council. Chairman of the committee for IFAC Control Engineering Practice Prize. Member of the Research Board FIME Physics, Informatics, Mathematics, Electrical Engineering. Book and Journal Editor Karl-Erik rzn: Advisory Editor for Engineering Applications of Articial Intelligence. Bo Bernhardsson: Member of editorial board of the journal IEEE Transaction on Automatic Control. Tore Hgglund: Associate editor for Control Engineering Practice. Rolf Johansson: Associate Editor of the IEEE Control Systems Society Conference Editorial Board and Associate Editor of Int.J. Adaptive Control and Signal Processing. Anders Rantzer: Associate editor of System and Control Letters and Int. Journal of Robust and Nonlinear Control Bjrn Wittenmark: Optimal Control Applications & Methods, Journal of Forecasting, International Journal of Adaptive Control and Signal Processing, Springer series on Advances in Industrial Control, and Proceedings IEE, Control Theory and Applications. 84

Staff Activities Advisory Committees and Working Groups Karl-Erik rzn: Chairman of the IEEE Control System Society Technical Committee on Real-Time Control, Computing, and Signal Processing. Per Hagander: Member of IFAC Technical Committee on Biomedical Engineering and Control. Member of the IEEE Technical Committee on Robust Control. Member of International Program Committee (IPC) Karl-Erik rzn: Member of IPC for EuroMicro 2000, Stockholm, Sweden. Member of IPC for ADPM 2000, Germany. Member of IPC for IFAC Conference on New Technologies for Computer Control 2001, Hongkong. Tore Hgglund: Member of the International Program Committees for the IFAC Workshop on Digital Control Past, present and future of PID Control, Terrassa, Spain, and for the conference Control Systems 2002 in Stockholm. Anders Rantzer: Member of the International Program Committee of the Fourth International Workshop on Hybrid Systems: Computation and Control (HSCC2001). Member of the program committee for the 2003 spring semester at the Institut Mittag-Lefer, Stockholm. Member of the steering committee of the International Symposium on Mathematical Theory of Networks and Systems (MTNS). Other Assignments Bjrn Wittenmark: Lecturer in the Distinguished Lectures Program of the IEEE Control System Society since 1993. Member of working group for planning of strategic research at Lund University.

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12. Publications and Conference Contributions

16 journal papers, 32 conference contributions, 5 conference abstracts, and 3 technical reports have been published this year.

Journal Papers
strm, Karl Johan: Limitations on control system performance. European Journal on Control, 6:1, pp. 220, 2000. strm, Karl Johan: Model uncertainty and robust control. In Lecture Notes on Iterative Identication and Control Design, pp. 63100, 2000. strm, Karl Johan, and Rodney D. Bell: Drum boiler dynamics. Automatica, 36, pp. 363378, 2000. strm, Karl Johan, and Katsuhisa Furuta: Swinging up a pendulum by energy control. Automatica, 36, pp. 278285, 2000. Eker, Johan, Per Hagander, and Karl Erik rzn: A feedback scheduler for realtime control tasks. Control Engineering Practice, 8:12, pp. 13691378, 2000. Fransson, P-A., R. Johansson, A. Hafstrm, and M. Magnusson: Methods for evaluation of postural control adaptation. Gait and Posture, 12, pp. 1424, 2000. Hgglund, Tore, and Karl Johan strm: Supervision of adaptive control algorithms. Automatica, 36, pp. 11711180, 2000. Johansson, Rolf, Anders Robertsson, Klas Nilsson, and Michel Verhaegen: State-space system identication of robot manipulator dynamics. Mechatronics, 10, pp. 403418, 2000. 87

Publications Lefeber, E., A. Robertsson, and H. Nijmeijer: Linear controllers for exponential tracking of systems in chained form. International Journal of Robust and Nonlinear Control: Special issue on Control of Underactuated Nonlinear Systems, 10:4, pp. 243264, apr 2000. Mllerstedt, Erik, and Bo Bernhardsson: Out of control because of harmonics an analysis of harmonic response of an inverter train. Control Systems Magazine, 2000. Panagopoulos, H., and K. J. strm: PID control design and H loop shaping. Int. J. Robust Nonlinear Control, 10, pp. 12491261, 2000. Rantzer, A., and M. Johansson: Piecewise linear quadratic optimal control. IEEE Trans. on Automatic Control, 2000. Savaresi, Sergio, and Bjrn Wittenmark: Rejection of narrow-band disturbances subject to uncertain time-delays. Int. J. Adaptive Control and Signal Processing, 14, pp. 3949, 2000. Tummescheit, Hubertus: Object-oriented modeling of physical systems, part 11. Automatisierungstechnik, 48:02, 2000. In German. Tummescheit, Hubertus: Object-oriented modeling of physical systems, part 12. Automatisierungstechnik, 48:04, 2000. In German. Tummescheit, H., and M. Tiller: Object-oriented modeling of physical systems, part 17. Automatisierungstechnik, 48:12, 2000. In German.

Conference Papers
kesson, Mats, and Per Hagander: A simplied probing controller for glucose feeding in Escherichia coli cultivations. In The 39th IEEE Conference on Decision and Control, vol. 1, pp. 45204525, December 2000. rzn, Karl-Erik, Anton Cervin, Johan Eker, and Lui Sha: An introduction to control and scheduling co-design. In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000. 88

Publications strm, Karl Johan: Control problems in paper making - revisited. In Preprints Control Systems 2000: Quantifying the Benets of Process Control, pp. 129136, British Columbia, 2000. strm, Karl Johan, and Tore Hgglund: Benchmark systems for PID control. In IFAC Workshop on Digital Control Past, present, and future of PID Control, Terrassa, Spain, 2000. strm, Karl Johan, and Tore Hgglund: The future of PID control. In IFAC Workshop on Digital Control Past, present, and future of PID Control, Terrassa, Spain, 2000. Barabanov, A., and A. Ghulchak: Numerical solution to H control of multi-delayed systems via operator approach. In Proceedings of IEEE Conf. on Decision and Control, 2000. Bauer, Olaf, and Hubertus Tummescheit: Modeling of two-phase ows in modelica. In Proceedings of the 3rd MATHMOD Conference, MATHMOD 2000, Vienna, feb 2000. IMACS. Bengtsson, J., A. Ahlstrand, K. Nilsson, A. Robertsson, M. Olsson, A. Heyden, and R. Johansson: A robot playing scrabble using visual feedback. In 6th Int. IFAC Symposium on Robot Control (SYROCO 2000), Vienna, Austria, September 2000. Carlson, J., R. Johansson, and S. B. Olsson: Classication of electrocardiographic P-wave morphology. In IEEE Conf. Decision and Control (CDC 2000), Sydney,Australia, dec 2000. Invited paper. Cervin, Anton, and Johan Eker: Feedback scheduling of control tasks. In ARTES Real-Time Graduate Student Conference, Gothenburg, Sweden, May 2000. Eborn, Jonas, and Karl Johan strm: Modeling of a boiler pipe with two-phase ow instabilities. In Modelica 2000 Workshop Proceedings, pp. 7988, Lund, October 2000. Modelica Association. Eborn, Jonas, Hubertus Tummescheit, and Falko Wagner: Development of a Modelica base library for modeling of thermo-hydraulic systems. In Proceedings of the 41st SIMS Simulation Conference, SIMS2000, pp. 253266, Copenhagen, September 2000. 89

Publications Gfvert, Magnus, Karl-Erik rzn, and Lars Malcolm Pedersen: Simple linear feedback and extremum seeking control of GDI engines. In Proceedings of Seoul 2000 FISITA World Automotive Congress, Seoul, Korea, June 2000. Gfvert, Magnus, Lars Malcolm Pedersen, Karl Erik rzn, and B. Bernhardsson: Simple feedback control and mode switching strategies for GDI engines. In SAE 2000 World Congress, Detroit, Michigan, USA, mar 2000. SAE paper 2000-01-0263. Grundelius, Mattias: Iterative optimal control of liquid slosh in an industrial packaging machine. In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, dec 2000. Grundelius, Mattias, and Bo Bernhardsson: Constrained iterative learning control of liquid slosh in an industrial packaging machine. In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, dec 2000. Hgglund, Tore: A new ratio control structure. In IFAC Workshop on Digital Control Past, present, and future of PID Control, Terrassa, Spain, 2000. Hedlund, Sven, and Anders Rantzer: Hybrid control laws from convex dynamic programming. In Proceedings of IEEE Conference of Decision and Control, dec 2000. Ingimundarson, Ari, and Tore Hgglund: Closed-loop identication of rst-order plus dead-time model with method of moments. In ADCHEM 2000, IFAC International Symposium on Advanced Control of Chemical Processes, Pisa, Italy, 2000. Ingimundarson, Ari, and Tore Hgglund: Robust automatic tuning of an industrial PI controller for dead-time systems. In IFAC Workshop on Digital Control Past, present, and future of PID Control, Terrassa, Spain, 2000. Johansson, Karl Henrik, and Tore Hgglund: Control structure design in process control systems. In ADCHEM 2000, IFAC International Symposium on Advanced Control of Chemical Processes, Pisa, Italy, 2000. 90

Publications Johansson, Rolf, and Anders Robertsson: Covariance analysis, positivity and the Yakubovich-Kalman-Popov lemma. In IEEE Conf. Decision and Control (CDC 2000), Sydney, Australia, dec 2000. Lincoln, Bo, and Bo Bernhardsson: Efcient pruning of search trees in lqr control of switched linear systems. In Proceedings of the Conference on Decision and Control, 2000. Lincoln, Bo, and Bo Bernhardsson: Optimal control over networks with long random delays. In Proceedings of the International Symposium on Mathematical Theory of Networks and Systems, 2000. Mllerstedt, Erik, and Bo Bernhardsson: A harmonic transfer function model for a diode converter train. In IEEE Power Engineering Society Winter Meeting, Singapore, 2000. Nordberg-Karlsson, E., S. Ramchuran, A. Tocaj, M. kesson, P. Hagander, and O. Holst: Fed-batch cultivation of Escherichia coli strategies applied for production of thermostable enzymes. In Third Meeting on Extremophiles as Cell Factories, Graz, Australia, June 36 1999. Olsson, Rasmus., and Karl Erik rzn: Exception handling in recipebased batch control. In Proc. of ADPM2000 The 4th International Conference on Automation of Mixed Processes., 2000. Rantzer, Anders.: On the dual of Lyapunovs second theorem. In Proceedings of American Control Conference, pp. 11861189, Chicago, 2000. Rantzer, A., and P. Parrilo: On convexity in stabilization of nonlinear systems. In Proceedings of IEEE Conference of Decision and Control, December 2000. Robertsson, Anders, A. Valera, Klas Nilsson, and Rolf Johansson: Online reconguration of real-time robot motion and force control. In 6th Int. IFAC Symposium on Robot Control (SYROCO 2000), Vienna, Austria, September 2000. 91

Publications Tiller, M., C. Davis, H. Tummescheit, and N. Trigui: Powertrain modeling with modelica. In Prooceedings of IMECE2000, 2000 ASME International Mechanical Engineering Congress and Exposition. ASME, November 2000. Tummescheit, Hubertus, Jonas Eborn, and Falko Wagner: Development of a Modelica base library for modeling of thermo-hydraulic systems. In Modelica 2000 Workshop Proceedings, pp. 4151, Lund, October 2000. Modelica Association.

Conference Abstracts
kesson, M., S. Ramchuran, V. Martins, P. Hagander, and O. Holst: Optimization of recombinant in protein production in an E. colibased process with limited oxygen transfer. In Abstract book of the 11th International Biotechnology Symposium and Exhibition (BIO2000), September 38, 2000, Berlin, Germany., pp. 4:297299, September 2000. Cervin, Anton, and Johan Eker: Feedback scheduling of contol tasks. In Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000. Ghulchak, A., and A. Shiriaev: Global stabilization of a class of nonlinear systems: An alternative description of the sufcient condition. In Preprints of Reglermte 2000, pp. 5660, 2000. Panagopoulos, H., and T. Hgglund: A new modular approach to active control of undamped modes. In Reglermte 2000, Uppsala University, Uppsala, Sweden, 2000. Sandberg, Henrik, and Erik Mllerstedt: Harmonic modeling of the motor side of an inverter locomotive. In Proc. of Reglermte 2000, Uppsala, Sweden, 2000. 92

Publications

Technical Reports
Claesson, V., Magnus Gfvert, and M. Sandfridsson: Proposal for a distributed computer control system in heavy-duty trucks. Dicosmos Internal Report 00-16, Computer Engineering, Chalmers University of Technology, 2000. Peetre, J., and B. Bernhardsson: Singular values of trilinear forms. Technical Report, Centre for Mathematics, 2000. Sanfridsson, M., V. Claesson, and M. Gfvert: Investigation and requirements of a computer control system in a heavy-duty truck. Technical Report ISRN KTH/MMK00/5SE, Mechatronics Lab, Royal Institute of Technology, Stockholm, Sweden, 2000.

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13. Reports
During this year 3 PhD theses and 1 Lic Tech thesis have been published. The abstracts are presented in Chapter 8. Also 24 master theses and 5 internal reports have been completed.

Dissertations
Cervin, Anton: Towards the Integration of Control and Real-Time Scheduling Design. Lic Tech thesis ISRN LUTFD2/TFRT--3226-SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, May 2000. Mllerstedt, Erik: Dynamic Analysis of Harmonics in Electrical Systems. PhD thesis ISRN LUTFD2/TFRT--1060--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Panagopoulos, Hlne: PID-Control. Design, Extension, Application. PhD thesis ISRN LUTFD2/TFRT--1059--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Walln, Anders: Tools for Autonomous Process Control. PhD thesis ISRN LUTFD2/TFRT--1058--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000.

Master Theses
kesson, Johan: Safe manual control of unstable systems. Master thesis ISRN LUTFD2/TFRT--5646--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, September 2000. Andersson, Martin: Matlab tool for rapid process identication and PID design. Master thesis ISRN LUTFD2/TFRT--5649--SE, De95

Reports partment of Automatic Control, Lund Institute of Technology, Lund, Sweden, September 2000. Axelsson, Jens: Supervision of computer equipment in ABB OperateIT using WMI. Master thesis ISRN LUTFD2/TFRT--5655--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, October 2000. Caputo, Luca: Control of energy storage device for rail vehicles. Master thesis ISRN LUTFD2/TFRT--5647--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, October 2000. Davidsson, Peter, and Fredrik Hansson: Communication between Matlab/Simulink and ABB advant control builder. Master thesis ISRN LUTFD2/TFRT--5639--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, March 2000. Ervasti, Tomi, and Torkel Niklassson: SDL programming of lego robots. Master thesis ISRN LUTFD2/TFRT--5648--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, October 2000. Gagner, Johan, and Rickard Bondesson: Adaptive real-time control of nonlinear throttle unit. Master thesis ISRN LUTFD2/TFRT-5638--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Ghatak, Deb, and Johan Olofsson: Design, implementation and verication using UML-RT in GSM radio base station 2000. Master thesis ISRN LUTFD2/TFRT--5641--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, May 2000. Henriksson, Dan: Observer-based impedance control in robotics. Master thesis ISRN LUTFD2/TFRT--5657--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Ingimundarson, Ari: Robust tuning procedures of dead-time compensating controllers. Master thesis ISRN LUTFD2/TFRT--5645--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, December 2000. 96

Reports Johansson, Tommy: Precise navigation for an agricultural robot. Master thesis ISRN LUTFD2/TFRT--5640--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, January 2000. Klingberg, Anna: Modelling and optimization of batch distillation. Master thesis ISRN LUTFD2/TFRT--5635--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Larsson, Mathias: Modeling and control in matlab for ABBs control builder. Master thesis ISRN LUTFD2/TFRT--5650--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, October 2000. Levin, Jonas: Sequential paging for moving mobile users. Master thesis ISRN LUTFD2/TFRT--5636--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Liljenborg, Sara, and Anders Olsson: Identify a surface with robot force control. Master thesis ISRN LUTFD2/TFRT--5656--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Lindau, Filip: Feedback control of plasma position in the EXTRAPT2 fusion experiment. Master thesis ISRN LUTFD2/TFRT--5654-SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Ng, Kuan Luen: Genetic programming in control theory: On evolving programs and solutions to control problems. Master thesis ISRN LUTFD2/TFRT--5642--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, June 2000. Nilsson, Bjrn: Experimental identication of the behavior of glass ber bushing. Master thesis ISRN LUTFD2/TFRT--5651--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. 97

Reports Nilsson, Per, and Johan Brodin: Implementing a wireless I/O unit using bluetooth. Master thesis ISRN LUTFD2/TFRT--5652--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Odebjer, Peter, and Johan Svahn: Linearization and nonlinear control in ight-controls and aeroelasticity for civil aircraft using MATRIXx. Master thesis ISRN LUTFD2/TFRT--5658--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, December 2000. Olsson, Henrik: Linear and neuro control strategies; some experimental results. Master thesis ISRN LUTFD2/TFRT--5643--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, June 2000. Petersson, Niklas, and Martin Santesson: Experimental slip-based road condition estimation. Master thesis ISRN LUTFD2/TFRT-5637--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Pontremoli, Alessandro: Modeling and control of a paper dryer section using modelica. Master thesis ISRN LUTFD2/TFRT--5653--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, November 2000. Rufer, Franck: Control of a high voltage power supply for a traveling tube transmitter. Master thesis ISRN LUTFD2/TFRT--5644--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000.

Other Reports
Blomdell, Anders: Eager evaluation considered harmful. Technical Report ISRN LUTFD2/TFRT--7590--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, March 2000. Cervin, Anton: The real-time control systems simulatorReference manual. Report ISRN LUTFD2/TFRT--7592--SE, Department of 98

Reports Automatic Control, Lund Institute of Technology, Lund, Sweden, April 2000. Panagopoulos, Hlne, and Tore Hgglund: A new modular approach to active control of undamped modes. Report ISRN LUTFD2/TFRT-7589--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, February 2000. Persson, Patrik, Anton Cervin, and Johan Eker: Execution-time properties of a hybrid controller. Report ISRN LUTFD2/TFRT--7591-SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, April 2000. Rantzer, Anders, and Eva Dagnegrd: Automatic Control 1999. Activity Report. Report ISRN LUTFD2/TFRT--4027--SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden, jun 2000.

Reports Available
Only a limited number of copies of our reports are available for sale from the Department. Any of the listed publications may, however, be borrowed through your library service or from the following libraries in Sweden:

Linkpings Universitetsbibliotek, Svensktrycket, SE-581 83 Linkping UB 2, Svenska Tryckavdelningen, Box 1010, SE-221 03 Lund Stockholms Universitetsbibliotek, Svenska Tryckavdelningen, SE-106 91 Stockholm Kungliga Biblioteket, Box 5039, SE-102 41 Stockholm Ume Universitetsbibliotek, Box 718, SE-901 10 Ume Uppsala Universitetsbibliotek, Box 510, SE-751 20 Uppsala

99

Reports The reports in the 1000- and 3000-series may be ordered from the Department. See addresses on page 4. Please be certain to specify both the report number and report title. There is a copying and handling charge of between 300 and 500 SEK for each document. Invoice will be sent together with the ordered report(s).

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14. Lectures by the Staff Outside the Department

Seminars and lectures given by the staff outside the department. The persons are listed alphabetically. rzn, Karl-Erik

Simple Feedback Control and Mode Switching Strategies for GDI Engines, University of California, Berkeley, USA, February 29. A Simulink Tool-box for Real-Time and Control Systems Co-Simulation, University of California, Berkeley, USA, March 1. A Simulink Tool-box for Real-Time and Control Systems Co-Simulation, University of Illinois, Urbana-Champaign, USA, March 2. Simple Feedback Control and Mode Switching Strategies for GDI Engines, University of Illinois, Urbana-Champaign, USA, March 3. Simple Feedback Control and Mode Switching Strategies for GDI Engines, H2C Workshop, Lund University, Lund, Sweden, May 5. Real-Time Control Systems, Spanish Summer School in Automatic Control, Almeria, Spain, May 2931. EC-funded Control Activities, Workshop on Future and Emerging Control Systems, Brussels, Belgium, June 19. An Introduction to Control and Real-Time Sceduling Co-Design, Sydney, Australia, December 16.
strm, Karl Johan

Event Based Sampling, Institute of Statistical Mathematics, Tokyo, Japan, January 8. Modeling of Physical Systems, Tokyo University, Tokyo, Japan, January 11.
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Lectures by the Staff

Friction Models and Friction Compensation, Tokyo University, Tokyo, Japan, January 12. Tools for Modeling Physical Systems, COE conference on Supermechano Systems. Tokyo Institute of Technology, Tokyo, Japan, March 2. Limitations of Control System Performance, Universidad Nacional de Educacion a Distancia, Madrid, Spain, March 28. Black Boxes and White Noise - A perspective on Automatic Control, Universidad Nacional de Educacion a Distancia, Madrid, Spain, April 3. The Future of PID Control, Terrassa, Spain, April 6. Automatic Control - The Hidden Technology, EPFL, Lausanne, Switzerland, April 14. Modeling of Physical Systems, EPFL, Lausanne, Switzerland, April 21. Short Course on PID Control, EPFL Lausanne, Switzerland, April 25. Automatic Control - The Hidden Technology, The S. S. Penner Distinguished Lectures in Aerospace and Mechanical Engineering, University of California, San Diego, USA, June 5. Black Boxes and White Noice, Chalmers Institute of Technology, Gothenburg, Sweden, May 18. Control Problems in Paper Making - Revisited, Control 2000, Victoria, Canada, May 2. Fundamental limitations of Control Systems, University of British Columbia, USA, May 8.. Balancing and Steering a Bicycle, University of California, Santa Barbara, USA, October 6. Stabilization of Bicycles, Department of Mechanical Engineering, University of California, Santa Barbara, USA, October 16. Manual Control of Unstable Systems, Furuta Symposium, December 3.
Cervin, Anton

Feedback Scheduling of Control Tasks, ARTES Real-Time Graduate Student Conference, Gothenburg, Sweden, March 17.
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Lectures by the Staff

Feedback Scheduling of Control Tasks, Invited paper, 39th IEEE Conference on Decision and Control, Sydney, Australia, December 15.
Eborn, Jonas

Thermo-Hydraulic Modelling and the Development of a Modelica Standard Library, Seminar at NUTEK Complex Technical Systems Conference, Lund. September 11. Development of a Modelica Base Library for Modeling of ThermoHydraulic Systems, Seminar at Sims2000 Simulation Conference, Copenhagen, Denmark. September 19. Modeling of a Boiler Pipe with Two-Phase Flow Instabilities, Seminar at Modelica 2000 Workshop, Lund, Sweden. October 24.
Ghulchak, Andrey

Robust Controller Design Via Linear Programming, Division of Automatic Control, LiTH, Linkping, Sweden, September 7.
Grundelius, Mattias

Iterative Optimal Control of Liquid Slosh in an Industrial Packaging Machine, 2000 IEEE Conference on Decision and Control, Sydney, Australia, December 14. Constrained Iterative Learning Control of Liquid Slosh in an Industrial Packaging Machine, 2000 IEEE Conference on Decision and Control, Sydney, Australia, December 15.
Hagander, Per

Control of Biotechnical Processes, Probing control of glucose feeding in aerobic cultivations, Nutek program conference, November 28. A simplied probing controller for glucose feeding in Escherichia coli cultivations, CDC Sydney, Australia, December 15.
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Lectures by the Staff

Reglering och feedproler Testa pulsprogrammet i stor skala, Pharmacia, Strngns, Sweden, August 11.
Hedlund, Sven

Convex Dynamic Programming for Hybrid Systems, Signals and Systems, Chalmers University of Technology, Gothenburg, Sweden, November 17.
Hgglund, Tore

Process Control in Practice, Industrial course in Sundsvall, Sweden, January 2627. The Unmanned Factory, Invited lecture at Lund University Faculty Club, Lund, Sweden, February 2. Process Control in Practice, Industrial course in Markaryd, Sweden, Februari 910. Automatic Tuning and Gain Scheduling, Invited lecture at KTH, Stockholm, Sweden, February 16. A New Ratio Control Structure, IFAC Workshop on Digital Control Past, Present, and Future of PID Control, Terrassa, Spain, April 7. Process Control in Practice, Industrial course in Tumba, Sweden, May 1617. Process Control in Practice, PhD course in the Nordic Energy Research Programme Lyngby, Denmark, September 13. Supervision and detection, Invited lecture at Modo, Husum, Sweden, October 26. Process Control in Practice, Industrial course in Tumba, Sweden, December 56.
Johansson, Rolf

Identication of Continuous-Time Models, Dept. Econometrics, Operations Research and System Theory, TU Vienna, Austria, April 12.
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Lectures by the Staff

System Identication: Classical Methods, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 4. System Identication: The Experimental Condition, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 4. System Identication: Model Validation, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 5. System Identication: Model Approximation, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 5. System Identication: State-Space Methods, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 5. System Identication: Recursive Identication, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 13. System Identication: Continuous-Time Identication, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 14. System Identication: Nonlinear Model Identication, Dipartimento di Informatica e Sistemistica, Universita degli Studi di Napoli Federico II, Napoli, Italy, July 14. System Identication of Continuous-Time Models, Dipartimento di Informatica e Sistemistica, Politechnico di Milano, Milano, Italy, July 28. System Identication: Development of Process Knowledge via Measurement, Data Analysis and Mathematical Models, Nutek Workshop on Multivariate Statistics and Chemometrics, Lund University, Lund, September 6.
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Lectures by the Staff

Classication of Electrocardiographic P-wave Morphology, IEEE Conf. Decision and Control (CDC 2000), Invited lecture, Sydney, Australia, December 14. Covariance analysis, positivity and the Yakubovich-Kalman-Popov Lemma, (CDC 2000), Sydney, Australia, Decenber 14.
Lincoln, Bo

Optimal Control over Networks with Long Random Delays, International Symposium on Mathematical Theory of Networks and Systems, Perpignan, France, June 20. Efcient Pruning of Search Trees in LQR Control of Switched Linear Systems, Conference on Decision and Control, Sydney, Australia, December 13.
Mllerstedt, Erik

Stability Analysis Modern Electric Networks, Invited lecture at ABB Corporate Research, Baden-Dttwil, Switzerland, April 14.
Rantzer, Anders

Stability and Robustness Analysis of Nonlinear and Uncertain Systems, Invited lecture at the Mathematical Colloquium at Lund University, Lund, Sweden, March 15. Analysis and Optimal Control of Hybrid Systems, Vrije Universiteit, Amsterdam, The Netherlands, April 3. On Optimal Control of Hybrid Systems, Workshop on Hybrid Control and Automotive Applications, Lund, Sweden, May 6. On Convexity in Stabilization of Nonlinear Systems, Plenary lecture, Second Nonlinear Control Network Workshop, Paris, France, June 8. On the Dual of Lyapunovs Second Theorem, University of Minnesota, Minneapolis, USA, June 23. On Convexity in Stabilization of Nonlinear Systems, University of Illinois, Urbana-Champaign, USA, June 26.
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Lectures by the Staff

On the Dual of Lyapunovs Second Theorem, Invited lecture at American Control Conference, Chicago, USA, June 28. On Convexity in Stabilization of Nonlinear Systems, Massachusetts Institute of Technology, Cambridge, USA, July 11. On Stability and Convergence of Nonlinear Systems, Invited lecture at the Peetre Conference on Function Spaces, Interpolation Theory, and Related topics, Lund, Sweden, August 21. A Dual View on Control with Constraints, Plenary lecture at Workshop on Systems with time-Domain Constraints, Eindhoven, the Netherlands, August 30. On Convexity in Stabilization of Nonlinear Systems, Conference on Decision and Control, Sydney, Australia, December 14.
Sandberg, Henrik

Harmonic Modeling of the Motor Side of an Inverter Locomotive, CCA 2000, Anchorage, Alaska, September 27. Harmonic Modeling of the Motor Side of an Inverter Locomotive, Institute of Systems Research, University of Maryland, USA, October 3.
Solyom, Stefan

ABS - A Piecewise Linear Approach, H2C Project Workshop, DaimlerChrysler AG, Stuttgart, Germany, September 15.
Tummescheit, Hubertus

Modeling of Two-Phase Flows with Modelica, Seminar. 3rd MATHMOD Vienna, Viennea, Austria, February 3, Physical System Modeling with Modelica: Tutorial and Overview, Seminar at Ford Motor Company, Dearborn, MI, USA, Feb 16. Physical System Modeling with Modelica, Seminar at California Institute of Technology, Pasadena, CA, USA, March 25.
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Lectures by the Staff

Introduction to Physical System Modeling with Modelica, Seminar at United Technologies Research Lab, Hartford, CO, USA, August 15. Modeling of Fuel Cells with Modelica and the ThermoFlow Library, Seminar at International Fuel Cells, Hartford, CO, USA, August 18. Object-Oriented Modeling of Physical Systems with Modelica, Short Course on Modeling with Modelica at Deparment of Energy Engineering, Copenhagen, Denmark, September 20 and September 27. Development of a Modelica Base Library for Modeling of ThermoHydraulic Systems, Seminar. Modelica 2000 Workshop, Lund, Sweden. October 24. Development of a Modelica Base Library for Modeling of ThermoHydraulic Systems, Seminar. Chemnitz-Hamburger Symposium, Hamburg, Germany. November 16.
Walln, Anders

Tools for Autonomous Process Control, Seminar at AssiDomn, Pite, Sweden. March 22.
Wittenmark, Bjrn

Interactive Simulation in Control Education, CITU, Lund University, Sweden, May 4. Time Delays in Computer Networks for Control, Universidad Tecnica Federico Santa Maria, Valparaiso, Chile, October 13. Input-output Pole-placement Design, Universidad Tecnica, Federico Santa Maria, Valparaiso, Chile, October 18. The Servo problem and Integrators, Universidad Tecnica, Federico Santa Maria, Valparaiso, Chile, October 20. Minimum Variance Control and LQG Design, Universidad Tecnica, Federico Santa Maria, Valparaiso, Chile, October 25. Operators, Transforms, and Multirate Sampling, Universidad Tecnica, Federico Santa Maria, Valparaiso, Chile, October 27.

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15. Seminars at the Department

Seminars presented in order of date. The seminars were given at the department during 2000, both by the staff and by invited lecturers. Dissertations and master theses presentations are also included.
AC = Department of Automatic Control, Lund Institute of Technology LTH = Lund Institute of Technology

Jan 10: Hubertus Tummescheit (AC), Physical Modeling with Modelica. Jan 19: Tommy Johansson (LTH), Precise Navigation for an Agricultural Robot. MSc-thesis presentation. Jan 21: International Project Group (LTH+EM Nantes), Simulation and Control of a Plate Heat Exchanger. Jan 28: Alfredo Loreto (Universita degli Studi Di Roma La SAPIENZA), Real-Time Control over a Communication Network with Delays. MSc-thesis presentation. Feb 3: Anna Klingberg (LTH), Modeling and Optimization of Batch Distillation. MSc-thesis presentation. Feb 11: Niklas Petersson, Martin Santesson (LTH), Experimental slip based road condition estimation. MSc-thesis presentation. Feb 15: Jonas Levin (LTH), Sequential Paging for Moving Mobile Users. MSc-thesis presentation. Feb 17: Guy Dumont (University of British Columbia), Loop shaping controller design for a spatially distributed system. Feb 18: Anders Walln (AC), Tools for Autonomous Process Control. Doctoral dissertation defence. 109

Seminars at the Department Feb 22: Rickard Bondesson, Johan Gagner (LTH), Adaptive Control of Nonlinear Throttle Unit. MSc-thesis presentation. Feb 22: Fredrik Hansson, Peter Davidsson (LTH), Communication between Matlab/Simulink and ABB Advant Control Builder. MScthesis presentation. Feb 23: Alina Besancon-Voda (LAG, France), Approaches to Identication and Uncertainty Bounding based on LMI techniques. Feb 24: Hlne Panagopoulos (AC), PID Control; Design, Extension, Application. Doctoral dissertation defence. Feb 29: Rolf Johansson (AC), NUTEK-video: The Thinking Machine. March 16: Krister Forsman (ABB), Diagnostics and performance assessments for process industrial control. March 27: Michael Lundh (ABB), Presentation and demonstration of ABBs MPC controller. April 7: Philippe de Wilde (Imperial College, London), Adaptation in a fuzzy environment (slides). May 2: Deb Ghatak, Johan Olofsson (LTH), Design, Implementation and Verication using UML-RT in GSM Radio Base Station 2000. MScthesis presentation. May 19: Dietmar Bauer (TU Wien), Analysis of the Larimore type of subspace methods. May 26: Gerhard Fohler (Mlardalen University) From Determinism to Flexibility - Merging Time and Events. May 26: Anton Cervin (AC) Towards the Integration of Control and Real-Time Scheduling Design. Lic Tech dissertation seminar. May 31: Johan Hamberg (FOA) The Method of Controlled Lagrangians. June 9: A. C. Antoulas (Rice University) An overview of model reduction methods for large-scale systems. June 13: Raffaello DAndrea (Cornell University) Robust and Optimal Control of Complex Interconnected Systems. 110

Seminars at the Department June 13: Luigi Palopoli (Scuola Superiori di Pisa) On the Application of Soft Real-time Techniques to Control Problems. June 14: Henrik Olsson (LTH) Linear Neural Control Methods. MScthesis presentation. June 14: Raffaello DAndre (Cornell University) The Robo Files: Building the best robot soccer team in the world. June 15: Carina Hansen, Cecilia Svensson (LTH) 2D Inverted Pendulum Control. MSc-thesis presentation. June 15: Jim Rawlings (University of Wisconsin-Madison) Disturbance models and robustness. June 15: Jim Rawlings (University of Wisconsin-Madison) Overview talk. What is Model Predictive Control?. June 16: Jim Rawlings (University of Wisconsin-Madison) Nonlinear models. June 16: Jim Rawlings (University of Wisconsin-Madison) Targets and schedules. June 20: Kuan Luen Ng (Imperial College) Darwinian Selection: On Evolving Programs and Solutions to Control Problems using Genetic Programming. MSc-thesis presentation. June 20: Jim Rawlings (University of Wisconsin-Madison) State estimation and monitoring. July 14: Franck Rufer (Institut National Polytechnique de Grenoble) Control of a High Voltage Power Supply for a Traveling Wave Tube Transmitter. MSc-thesis presentation. Aug 21: Geir Dullerud (University of Illinois) Distributed and LTV Control of Heterogeneous Systems. Sep 4: Pablo Parrilo (CalTech) Semidenite Programming and Semialgebraic Geometry in Robustness and Optimization. Sep 8: John Doyle (CalTech) Web/internet trafc and complexity at the edge of nonsense. 111

Seminars at the Department Sep 8: John Doyle (CalTech) HOT theories of turbulence and statistical physics. Sep 13: Johan kesson (LTH) Safe Manual Control of Unstable Systems. MSc-thesis presentation. Sep 27: Luca Caputo (Universita Degli Studi, Firenze) Control of Energy Storage Device for Rail Vehicles. MSc-thesis presentation. Sep 27: Martin Andersson (LTH) Implementering och tillmpningar av nya reglertrimningsmetoder. MSc-thesis presentation. Sep 28: Per-Olof Gutman (Technion Israel Inst. of Technology) QFT in the basic Single Input Single Output case. Sep 28: Per-Olof Gutman (Technion Israel Inst. of Technology) The robust control problem. Uncertain linear plants. Sep 29: Per-Olof Gutman (Technion Israel Inst. of Technology) Comparison between QFT and other robust control methods. Sep 29: Per-Olof Gutman (Technion Israel Inst. of Technology) QFT for non-minimum phase and computer controlled systems, Landau example. Oct 2: Tomi Ervasti, Torkel Niklasson (LTH) SDL Programming of LEGO Robots. MSc-thesis presentation. Oct 13: Mathias Larsson (LTH) Modellering och simulering i Matlab fr ABBs Control Builder. MSc-thesis presentation. Oct 19: Henrik Gordon Petersen (Odense University) Robotics and Applied Software Engineering at Odense University. Nov 7: Johan Brodin, Per Nilsson (LTH) Implementing a Wireless I/O over Bluetooth. MSc-thesis presentation. Nov 9: David J Hill (University of Sydney, Australia) Stability and Control within Electricity Markets. Nov 10: Erik Mllerstedt (AC) Dynamic Analysis of Harmonics in Electrical Systems. Doctoral dissertation defence. 112

Seminars at the Department Nov 13: Wolfgang Reinelt (Linkping University) Design of saturation-avoiding controllers: a double Youla approach to deal with plant uncertainty. Nov 14: Allessandro Pontremoli (Universita Degli Studi Di Roma La SAPIENZA) Modeling and Control of a Paper Drying Section using Modelica. MSc-thesis presentation. Nov 14: Bjrn Nilsson (LTH) Modeling of Industrial Glass Fibre Production. MSc-thesis presentation. Nov 16: Filip Lindau (LTH) Feedback control of plasma position in the EXTRAP-T2 fusion experiment. MSc-thesis presentation. Nov 16: Jens Axelsson (LTH) Operate-IT WMI Aspect. MSc-thesis presentation. Nov 21: Sara Liljenborg, Anders Olsson (LTH) Force Control in Robotics. MSc-thesis presentation. Nov 24: Dan Henriksson (LTH) Observer-based Impedance Control in Robotics. MSc-thesis presentation. Nov 28: Michael Schinkel (University of Glasgow) Sample Data Control with Varying Sampling Time. Dec 7: John Fredriksson, Andreas Rudolf (LTH) Probing control of glucose feeding in Saccharomyces cerevisiae cultivations. MSc-thesis presentation. Dec 20: Peter Odebjer, Johan Svahn (LTH) Linearization and Nonlinear Control in Flight-Control and Aeroelasticity for Civil Aircraft using MatrixX. MSc-thesis presentation.

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