 20th IFAC World Congress 2017

IFAC PapersOnline Volume 50, Issue 1 Toulouse, France 9-14 July 2017

Part 1 of 24

Editors:

Denis Dochain Didier Henrion Dimitri Peaucelle

ISBN: 978-1-5108-5071-2

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PART 1

VOLTAGE CONTROL USING LIMITED COMMUNICATION*...... 1 Sindri Magnússon, Carlo Fischione, Na Li

A LOCAL STABILITY CONDITION FOR DC GRIDS WITH CONSTANT POWER LOADS* ...... 7 José Arocas-Pérez, Robert Griño

VSC-HVDC SYSTEM ROBUST STABILITY ANALYSIS BASED ON A MODIFIED MIXED SMALL GAIN AND PASSIVITY THEOREM ...... 13 Y. Song, C. Breitholtz

POWER BALANCING IN A DC MICROGRID ELEVATOR SYSTEM THROUGH CONSTRAINED OPTIMIZATION ...... 19 T. Hung Pham, I. Prodan, D. Genon-Catalot, L. Lefèvre

OPTIMAL POWER FLOW FOR RESISTIVE DC NETWORKS: A PORT-HAMILTONIAN APPROACH*...... 25 Ernest Benedito, Dunstano Del Puerto-Flores, Arnau Dòria-Cerezo, Jacquelien M. A. Scherpen

ADVANCED CONTROL FOR ENERGY MANAGEMENT OF GRID-CONNECTED HYBRID POWER SYSTEMS IN THE SUGAR CANE INDUSTRY*...... 31 Marcelo Menezes Morato, Paulo Renato Da Costa Mendes, Julio Elias Normey-Rico, Carlos Bordons

A FAST LEARNING NEURO ADAPTIVE CONTROL OF BUCK CONVERTER DRIVEN PMDC MOTOR: DESIGN, ANALYSIS AND VALIDATION ...... 37 Tousif Khan Nizami, Arghya Chakravarty, Chitralekha Mahanta

PREDICTIVE FUNCTIONAL CONTROL OF SUPERHEAT IN A REFRIGERATION SYSTEM USING A NEURAL NETWORK MODEL...... 43 T. S. Pedersen, K. M. Nielsen, J. Hindsborg, P. Reichwald, K. Vinther, R. Izadi-Zamanabadi

EVENT-BASED CUBATURE KALMAN FILTER FOR SMART GRID SUBJECT TO COMMUNICATION CONSTRAINT ...... 49 Sen Li, Zhen Li, Jian Li, Qinglin Wang, Zhuoyue Song, Zhen Chen, Yongzhi Sheng, Xiangdong Liu, Yang Liu

CONTINGENCY ANALYSIS POST-PROCESSING WITH ADVANCED COMPUTING AND VISUALIZATION...... 55 Yousu Chen, Kurt Glaesemann, Erin Fitzhenry

ELECTRICAL POWER DISTRIBUTION SYSTEM RECONFIGURATION: CASE STUDY OF A REAL-LIFE GRID IN CROATIA * ...... 61 Branimir Novoselnik, Martin Bolfek, Marin Boškovic, Mato Baotic

DESIGN AND IMPLEMENTATION OF A WIDE-AREA DAMPING CONTROLLER USING HIGH VOLTAGE DC MODULATION AND SYNCHROPHASOR FEEDBACK* ...... 67 David A. Schoenwald, Brian J. Pierre, Felipe Wilches-Bernal, Daniel J. Trudnowski

OBSERVATION AND APPLICATIONS OF ELECTROMECHANICAL WAVE PROPAGATION BASED ON WIDE-AREA SYNCHRONOUS MEASUREMENT...... 73 Yilu Liu, Shutang You, Ling Wu, Penn Markham, Dao Zhou, Yu Su

DELAY-AWARE CONTROL DESIGNS OF WIDE-AREA POWER NETWORKS*...... 79 Seyed Mehran Dibaji, Yildiray Yildiz, Anuradha Annaswamy, Aranya Chakrabortty, Damoon Soudbakhsh

DAMPING CONTROL OF HVDC LINKS TO MITIGATE CONTROLLER INTERACTION WITH RESONANCES OF THE OFFSHORE WIND FARM...... 85 Abdulwahab Korai, István Erlich

MANAGEMENT CONTROLLER FOR A DC MICROGRID INTEGRATING RENEWABLES AND STORAGES ...... 90 Alessio Iovine, Gilney Damm, Elena De Santis, Maria Domenica Di Benedetto

REDUCED-ORDER ROBUST CONTROL OF A FUEL CELL AIR SUPPLY SYSTEM* ...... 96 David Hernández-Torres, Delphine Riu, Olivier Sename

ON THE WAY TO PURGE VOLUME CONTROL DURING PURGE PROCESSES OF A FUEL CELL SYSTEM BY A PREDICTIVE CONTROL STRATEGY ...... 102 Christian Hähnel, Andreas Cloppenborg, Joachim Horn

OPTIMUM CONTROL OF PARABOLIC TROUGH SOLAR FIELDS WITH PARTIAL RADIATION*...... 109 Sergio J. Navas, Francisco R. Rubio, Pedro Ollero

ECONOMIC MPC APPLIED TO GENERATION SCHEDULING IN CSP PLANTS*...... 115 M. J. Vasallo, J. M. Bravo, D. Marín, M. E. Gegúndez

WEB APPLICATON FOR OTEC SIMULATOR USING DOUBLE-STAGE RANKINE CYCLE * ...... 121 Satoru Goto, Yoshitaka Matsuda, Takenao Sugi, Takafumi Morisaki, Takeshi Yasunaga, Yasunori Ikegami, Naruto Egashira

THE HYDRAULIC HAMMER EFFECT IN SOLAR TOWER FLUID CIRCUIT TEMPERATURE CONTROLLER *...... 129 José M. Igreja, Costas Marakkos, João M. Lemos

CONTROL OF OTEC PLANT USING DOUBLE-STAGE RANKINE CYCLE CONSIDERING WARM SEAWATER TEMPERATURE VARIATION* ...... 135 Yoshitaka Matsuda, Satoru Goto, Takenao Sugi, Takafumi Morisaki, Takeshi Yasunaga, Yasuyuki Ikegami

ROBUST FEEDBACK MODEL PREDICTIVE CONTROL OF SEA WAVE ENERGY CONVERTERS...... 141 Siyuan Zhan, Wei He, Guang Li

DISTRIBUTED EXTREMUM SEEKING CONTROL FOR WIND FARM POWER MAXIMIZATION ...... 147 Judith Ebegbulem, Martin Guay

INDUCTION IN OPTIMAL CONTROL OF MULTIPLE-KITE AIRBORNE WIND ENERGY SYSTEMS...... 153 Rachel Leuthold, Sébastien Gros, Moritz Diehl

DECOMPOSITION BASED MULTI-OBJECTIVE OPTIMIZATION TO SIMULTANEOUSLY DETERMINE THE NUMBER AND THE OPTIMUM LOCATIONS OF WIND TURBINES IN A WIND FARM ...... 159 Prateek Mittal, Kishalay Mitra

A DISTRIBUTED SCHEME FOR POWER PROFILE MARKET CLEARING UNDER HIGH BATTERY PENETRATION*...... 165 Takayuki Ishizaki, Masakazu Koike, Nobuyuki Yamaguchi, Asami Ueda, Tu Bo, Jun-Ichi Imura

A PORTFOLIO APPROACH OF DEMAND SIDE MANAGEMENT...... 171 Zhou Wu, Xiaohua Xia

HYBRID CONSENSUS-BASED ALGORITHM FOR DISTRIBUTED ECONOMIC DISPATCH PROBLEM* ...... 177 Xiao-Kang Liu, Yan-Wu Wang, Huaicheng Yan, Xiaoping Wang, Xiaoya Hu

MARKET-DRIVEN ENERGY STORAGE PLANNING FOR MICROGRIDS WITH RENEWABLE ENERGY SYSTEMS USING STOCHASTIC PROGRAMMING ...... 183 Abdulelah H. Habib, Vahid R. Disfani, Jan Kleissl, Raymond A. De Callafon

EXPLORING THE VICKREY-CLARKE-GROVES MECHANISM FOR ELECTRICITY MARKETS*...... 189 Pier Giuseppe Sessa, Neil Walton, Maryam Kamgarpour

THE DESIGN AND REALIZATION OF SMART ENERGY MANAGEMENT SYSTEM BASED ON SUPPLY- DEMAND COORDINATION ...... 195 James Okae, Juan Du, E. K. Akowuah, G. Appiah, E. K. Anto

TOTAL OPTIMIZATION OF SMART COMMUNITY BY DIFFERENTIAL EVOLUTIONARY PARTICLE SWARM OPTIMIZATION ...... 201 Mayuko Sato, Yoshikazu Fukuyama

DIFFERENTIATED ENERGY SERVICES: MULTIPLE ARRIVAL TIMES AND MULTIPLE DEADLINES * ...... 207 Yanfang Mo, Wei Chen, Li Qiu

A SYSTEMATIC V2G CONTROL SCHEME ASSISTED BY NEGATIVE FEEDFORWARD DC VOLTAGE STABILIZATION FOR FREQUENCY RESPONSE...... 213 Subham Sahoo, Sukumar Mishra

GENERATING HIGH DYNAMIC RANGE IMAGES USING A SKY IMAGER...... 219 Rémi Chauvin, Julien Nou, Stéphane Thil, Stéphane Grieu

VIRTUAL BIDDING: EQUILIBRIUM, LEARNING, AND THE WISDOM OF CROWDS* ...... 225 Jonathan Mather, Eilyan Bitar, Kameshwar Poolla

INTERIOR POINT DECOMPOSITION FOR MULTI-AGENT OPTIMIZATION*...... 233 Altug Bitlislioglu, Ivan Pejcic, Colin Jones

SOLVING THE OPTIMAL POWER FLOW QUADRATIC COST FUNCTIONS USING VORTEX SEARCH ALGORITHM ...... 239 O. Aydin, S. S. Tezcan, I. Eke, M. C. Taplamacioglu

DAY-AHEAD SCHEDULING OF MULTIPLE THERMAL POWER PLANTS WITH OUTPUT CONSTRAINTS BASED ON PV INTERVAL PREDICTION ...... 245 Masakazu Koike, Takayuki Ishizaki, Nacim Ramdani, Jun-Ichi Imura

DIGITAL MAP GENERATION AND LOCALIZATION FOR VEHICLES IN URBAN INTERSECTIONS USING LIDAR AND GNSS DATA...... 251 Tobias M. Quack, Matthias Reiter, Dirk Abel

A COMPLETE FRAMEWORK FOR DEVELOPING AND TESTING AUTOMATED DRIVING CONTROLLERS ...... 258 Ray Lattarulo, Joshué Pérez, Martin Dendaluce

COOPERATIVE OBJECT DETECTION IN ROAD TRAFFIC...... 264 Olivér Töro, Tamás Bécsi, Szilárd Aradi, Péter Gáspár

A CONTROL EFFECTIVENESS ESTIMATOR WITH A MOVING HORIZON ROBUSTNESS MODIFICATION FOR FAULT-TOLERANT HEXACOPTER CONTROL...... 270 Philipp Niermeyer, Mikhail Pak, Boris Lohmann

MAP-BASED LOCALIZATION METHOD FOR AUTONOMOUS VEHICLES USING 3D-LIDAR *...... 276 Liang Wang, Yihuan Zhang, Jun Wang

COLLISION-FREE RENDEZVOUS MANEUVERS FOR FORMATIONS OF UNMANNED AERIAL VEHICLES...... 282 A. Papen, R. Vandenhoeck, J. Bolting, F. Defay

OPTIMAL DRIVING POLICIES FOR AUTONOMOUS VEHICLES BASED ON STOCHASTIC DRIFT COUNTERACTION ...... 290 Robert A. E. Zidek, Ilya V. Kolmanovsky

ROBUST H∞ CONTROL FOR AUTONOMOUS SCOOTERS...... 297 Jingjing Jiang, Simos A. Evangelou, Martin R. Torquil, Alessandro Astolfi

OPTIMAL TRAJECTORY TRACKING CONTROL FOR AUTOMATED GUIDED VEHICLES* ...... 303 Amritam Das, Yanin Kasemsinsup, Siep Weiland

TIME-VARYING FORMATION TRACKING WITH COLLISION AVOIDANCE FOR MULTI-AGENT SYSTEMS*...... 309 J. Santiaguillo-Salinas, E. Aranda-Bricaire

BOGIE FAULT IDENTIFICATION BASED ON EEMD INFORMATION ENTROPY AND MANIFOLD LEARNING...... 315 Na Qin, Yongkui Sun, Pengju Gu, Lei Ma

A FAST ON-LINE GLOBAL PATH PLANNING ALGORITHM BASED ON REGIONALIZED ROADMAP FOR ROBOT NAVIGATION *...... 319 Chaoliang Zhong, Shirong Liu, Botao Zhang, Qiang Lu, Jian Wang, Qiuxuan Wu, Farong Gao

PATH FOLLOWING CONTROL TUNING FOR AN AUTONOMOUS UNMANNED QUADROTOR USING PARTICLE SWARM OPTIMIZATION ...... 325 Manuel A. Rendón, Felipe F. Martins

TRACKING ALGORITHMS FOR COOPERATIVE TELEMAINTENANCE REPAIR OPERATIONS * ...... 331 Michael Rojkov, Doris Aschenbrenner, Klaus Schilling, Marc Latoschik

PROPOSAL OF COMPONENT BASED ARCHITECTURE FOR INTERNET OF THINGS: ONLINE LABORATORY CASE STUDY...... 337 Miroslav Gula, Katarína Žáková

APPLICATION OF FEEDBACK CONTROL ON THE CLOUD-BASED WEB SIMULATION SYSTEM...... 343 Yi-You Luo, Guo-Ping Liu

H∞ - OPTIMAL CONTROL OVER ERASURE CHANNEL ...... 349 Abhijit Mazumdar, Srinivasan Krishnaswamy, Somanath Majhi

COEXISTENCE PLANT MODEL FOR AN AUTOMATED COEXISTENCE MANAGEMENT...... 355 Darina Schulze, Lutz Rauchhaupt, Marko Kraetzig, Ulrich Jumar

POWERLINK AND ETHERNET/IP COMPARISON AS ROBUST INDUSTRIAL ETHERNET PROTOCOLS ...... 363 Juan Barrios-Avilés, Alfredo Rosado-Muñoz, Taras Iakymchuk, Marcos García-Chulbi

MODELLING AND CONTROL OF A VIRTUAL SKYDIVER ...... 369 Anna Clarke, Per-Olof Gutman

ROBUST STABILITY OF UNCERTAIN DISCRETE-TIME LINEAR SYSTEMS WITH INPUT AND OUTPUT QUANTIZATION ...... 375 L. Su, G. Chesi

OPTIMAL TRACKING AND DISTURBANCE REJECTION WITH INVARIANT ZEROS ON THE UNIT CIRCLE: A POLYNOMIAL SPECTRAL FACTORIZATION DESIGN ...... 381 Drilon Bunjaku, Jovan D. Stefanovski, Georgi M. Dimirovski, Mile Stankovski

A GAME THEORETIC APPROACH TO DESIGN A RESILIENT CONTROLLER FOR A NONLINEAR DISCRETE SYSTEM ...... 387 Hossein Salehghaffari, Prashanth Krishnamurthy, Farshad Khorrami

PERFORMANCE RESILIENCE ANALYSIS OF DYNAMIC FEEDBACK CONTROLLERS FOR BOTH MULTIPLICATIVE AND ADDITIVE GAIN PERTURBATIONS...... 393 Fan Feng, Susan C. Schneider, Edwin E. Yaz

PROBABILISTIC µ-ANALYSIS FOR SYSTEM PERFORMANCES ASSESSMENT. * ...... 399 Alexandre Falcoz, Daniel Alazard, Christelle Pittet

IDENTIFICATION OF FRACTIONAL DIFFERENTIAL MODELS FOR LITHIUM-ION POLYMER BATTERY DYNAMICS...... 405 Yunfeng Jiang, Bing Xia, Xin Zhao, Truong Nguyen, Chris Mi, Raymond A. De Callafon

ON THE FRAGILITY OF NETWORK SECURITY VERIFICATION IN RARE-OBSERVATION REGIMES* ...... 411 Mardavij Roozbehani, Armanas Povilionis, Christian Schunck, Maurizio Talamo

CHANGE DETECTION AND ISOLATION IN MECHANICAL SYSTEM PARAMETERS BASED ON PERTURBATION ANALYSIS ...... 419 Michael Döhler, Qinghua Zhang, Laurent Mevel

CONSTRAINED MULTIPLE MODEL BAYESIAN FILTERING FOR TARGET TRACKING IN CLUTTERED ENVIRONMENT ...... 425 Shaoming He, Hyo-Sang Shin, Antonios Tsourdos

THREE EXAMPLES OF THE STABILITY PROPERTIES OF THE INVARIANT EXTENDED KALMAN FILTER * ...... 431 A. Barrau, S. Bonnabel

A LOW-COST NON-INVASIVE SLAG DETECTION SYSTEM FOR CONTINUOUS CASTING...... 438 Gergely Takács, Karol Ondrejkovic, Gabriel Hulkó

THREE BENCHMARKS ADDRESSING OPEN CHALLENGES IN NONLINEAR SYSTEM IDENTIFICATION*...... 446 M. Schoukens, J. P. Noël

AN UNSTRUCTURED FLEXIBLE NONLINEAR MODEL FOR THE CASCADED WATER-TANKS BENCHMARK* ...... 452 Rishi Relan, Koen Tiels, Anna Marconato, Johan Schoukens

POLYNOMIAL STATE-SPACE MODEL DECOUPLING FOR THE IDENTIFICATION OF HYSTERETIC SYSTEMS...... 458 Alireza Fakhrizadeh Esfahani, Philippe Dreesen, Koen Tiels, Jean-Philippe Noël, Johan Schoukens

CONTINUOUS-TIME NONLINEAR SYSTEMS IDENTIFICATION WITH OUTPUT ERROR METHOD BASED ON DERIVATIVE-FREE OPTIMISATION ...... 464 M. Brunot, A. Janot, F. Carrillo

AUTOMATIC MODELING WITH LOCAL MODEL NETWORKS FOR BENCHMARK PROCESSES...... 470 Julian Belz, Tobias Münker, Tim O. Heinz, Geritt Kampmann, Oliver Nelles

NONPARAMETRIC VOLTERRA SERIES ESTIMATE OF THE CASCADED WATER TANKS USING MULTIDIMENSIONAL REGULARIZATION...... 476 Georgios Birpoutsoukis, Péter Zoltán Csurcsia, Johan Schoukens

ANALYTICAL INITIALIZATION OF A CONTINUATION-BASED INDIRECT METHOD FOR OPTIMAL CONTROL OF ENDO-ATMOSPHERIC LAUNCH VEHICLE SYSTEMS...... 482 Riccardo Bonalli, Bruno Hérissé, Emmanuel Trélat

OPTIMAL CONTROL THEORY AND THE EFFICIENCY OF THE SWIMMING MECHANISM OF THE COPEPOD ZOOPLANKTON...... 488 J. Rouot, P. Bettiol, B. Bonnard, A. Nolot

A MONOTONE SCHEME FOR SPARSITY OPTIMIZATION IN LP WITH P Σ (0,1]...... 494 Daria Ghilli, Karl Kunisch

INVERSE OPTIMAL CONTROL PROBLEM: THE SUB-RIEMANNIAN CASE * ...... 500 Frédéric Jean, Sofya Maslovskaya, Igor Zelenko

NECESSARY CONDITIONS FOR A NONCLASSICAL CONTROL PROBLEM WITH STATE CONSTRAINTS* ...... 506 Chems Eddine Arroud, Giovanni Colombo

ABOUT THE MINIMAL TIME CRISIS PROBLEM AND APPLICATIONS* ...... 512 T. Bayen, A. Rapaport

A GENERALIZED APPROACH TO ECONOMIC MODEL PREDICTIVE CONTROL WITH TERMINAL PENALTY FUNCTIONS ...... 518 Zihang Dong, David Angeli

STOCHASTIC ECONOMIC MODEL PREDICTIVE CONTROL FOR MARKOVIAN SWITCHING SYSTEMS*...... 524 Pantelis Sopasakis, Domagoj Herceg, Panagiotis Patrinos, Alberto Bemporad

OPTIPLAN: A MATLAB TOOLBOX FOR MODEL PREDICTIVE CONTROL WITH OBSTACLE AVOIDANCE...... 531 Filip Janecek, Martin Klauco, Martin Kalúz, Michal Kvasnica

IMPROVED BERNSTEIN OPTIMIZATION BASED NONLINEAR MODEL PREDICTIVE CONTROL SCHEME FOR POWER SYSTEMS ...... 537 Bhagyesh V. Patil, Jan Maciejowski, K. V. Ling

IMPLICIT INTEGRATORS FOR LINEAR DYNAMICS COUPLED TO A NONLINEAR STATIC FEEDBACK AND APPLICATION TO WIND TURBINE CONTROL* ...... 545 Sébastien Gros, Rien Quirynen, Axel Schild, Moritz Diehl

NONLINEAR MODEL PREDICTIVE CONGESTION CONTROL FOR NETWORKS...... 552 Cunwu Han, Mengqi Li, Yuanwei Jing, Lei Liu, Zhonghua Pang, Dehui Sun

REACTION FLUX VERSUS REACTION FORCE: EASY TO STABILIZE?...... 558 N. Ha Hoang, Denis Dochain, Nicolas Hudon

WEGSCHEIDER’S CONDITION AND PASSIVITY OF OPEN CHEMICAL REACTION SYSTEMS...... 564 Antonio A. Alonso, Irene Otero-Muras

CASCADE CONTROL OF A CLASS OF CHEMICAL REACTORS BASED ON ENTROPY PRODUCTION SHAPING* ...... 570 M. A. Zárate-Navarro, J. P. García-Sandoval, C. Calderón

CONTROL OF NON-ISOTHERMAL CHEMICAL REACTION NETWORKS USING IRREVERSIBLE PORT- HAMILTONIAN SYSTEMS ...... 576 Hector Ramirez, Yann Le Gorrec

THE GEOMETRIC STRUCTURE OF INTERCONNECTED THERMO-MECHANICAL SYSTEMS.*...... 582 Dmitry Gromov, Fernando Castaños

CONTROL DESIGN FOR THERMODYNAMIC SYSTEMS ON CONTACT MANIFOLDS...... 588 Nicolas Hudon, Martin Guay, Denis Dochain

CONTROLLING A TRIANGULAR FLEXIBLE FORMATION OF AUTONOMOUS AGENTS.*...... 594 Hector Garcia De Marina, Zhiyong Sun, Ming Cao, Brian D. O. Anderson

AVERAGE CONSENSUS WITH ASYNCHRONOUS UPDATES AND UNRELIABLE COMMUNICATION...... 601 Nicoletta Bof, Ruggero Carli, Luca Schenato

DISTRIBUTED ENDOGENOUS INTERNAL MODEL FOR MODAL CONSENSUS AND FORMATION CONTROL ...... 607 S. Galeani, M. Sassano

HYBRID COVERAGE AND INSPECTION CONTROL FOR ANISOTROPIC MOBILE SENSOR TEAMS ...... 613 Antonio Adaldo, Dimos V. Dimarogonas, Karl H. Johansson

FINITE-TIME CONSENSUS ANALYSIS UNDER DIRECTED COMMUNICATION TOPOLOGIES FOR MULTI-AGENT SYSTEMS* ...... 619 Qiang Lu, Qing-Long Han, Chaoliang Zhong, Botao Zhang, Jian Wang, Shirong Liu, Jianzhong Wang

ENHANCING CONVERGENCE TOWARD CONSENSUS IN LEADER-FOLLOWER NETWORKS ...... 625 Gianfranco Parlangeli

RUDOLF E. KALMAN: LIFE AND WORKS ...... 631 Vladimír Kucera

KALMAN’S EXPANDING INFLUENCE IN THE ECONOMETRICS DISCIPLINE...... 637 Bruce A. Wilcox, Fumio Hamano

DEADZONE COMPENSATION BASED BOUNDARY CONTROL OF A FLEXIBLE AERIAL REFUELING HOSE WITH OUTPUT CONSTRAINT...... 645 Zhijie Liu, Jinkun Liu, Wei He

OUTPUT REGULATION OF A REACTION-DIFFUSION PDE WITH LONG TIME DELAY USING BACKSTEPPING APPROACH*...... 651 Jun-Min Wang, Jian-Jun Gu

PART 2

TIME SYNCHRONIZATION IN WSNS WITH RANDOM COMMUNICATION DELAYS: A CONSTANT GAIN DESIGN ...... 657 Bo Wang, Yu-Ping Tian

OUTPUT FEEDBACK BOUNDARY CONTROL OF SERIES INTERCONNECTIONS OF 2 x 2 SEMILINEAR HYPERBOLIC SYSTEMS ...... 663 Timm Strecker, Ole Morten Aamo

ON BOUNDARY FINITE-TIME FEEDBACK CONTROL FOR HEAT EQUATION ...... 671 Andrey Polyakov, Jean-Michel Coron, Lionel Rosier

POLYNOMIAL CONTROL SYSTEMS: INVARIANT SETS GIVEN BY ALGEBRAIC EQUATIONS/INEQUATIONS ...... 677 Melanie Harms, Christian Schilli, Eva Zerz

NLCONTROL – A MATHEMATICA PACKAGE FOR NONLINEAR CONTROL SYSTEMS*...... 681 Ülle Kotta, Maris Tõnso

CONDITIONED INVARIANCE AND DETECTABILITY SUBSPACES IN THE BEHAVIORAL APPROACH* ...... 687 Ricardo Pereira, Paula Rocha

ROBUST REGULATION OF MIMO SYSTEMS: A REFORMULATION OF THE INTERNAL MODEL PRINCIPLE ...... 693 Petteri Laakkonen

ST RD EXPLICIT H∞ CONTROLLERS FOR 1 TO 3 ORDER SINGLE-INPUT SINGLE-OUTPUT SYSTEMS WITH PARAMETERS...... 698 Guillaume Rance, Yacine Bouzidi, Alban Quadrat, Arnaud Quadrat

TH EXPLICIT H∞ CONTROLLERS FOR 4 ORDER SINGLE-INPUT SINGLE-OUTPUT SYSTEMS WITH PARAMETERS AND THEIR APPLICATION TO THE TWO MASS-SPRING SYSTEM WITH DAMPING ...... 704 Guillaume Rance, Yacine Bouzidi, Alban Quadrat, Arnaud Quadrat, Fabrice Rouillier

INVESTIGATIONS OF THE SWITCHING DYNAMICS IN SLIDING MODE CONTROL...... 710 Maria Simonsen, Henrik Schioler, John Leth

DESIGN OF DISTURBANCE OBSERVER BASED SLIDING MODE CONTROL FOR FUZZY SYSTEMS...... 717 Xiaowei Ma, Jinhui Zhang, Jing Wang

ADAPTIVE REGULATION OF TIME-DELAY CASCADE SYSTEMS WITH PARAMETER UNCERTAINTY *...... 723 Xu Zhang, Wei Lin, Yan Lin

A NECESSARY AND SUFFICIENT CONDITION FOR TOTAL OBSERVABILITY OF DISCRETE-TIME LINEAR TIME-VARYING SYSTEMS ...... 729 Marcin Witczak, Vicenç Puig, Damiano Rotondo, Piotr Witczak

DISTRIBUTED EXTREMUM SEEKING IN MULTI-AGENT SYSTEMS WITH ARBITRARY SWITCHING GRAPHS*...... 735 J. I. Poveda, M. Benosman, A. R. Teel

NONLINEAR CONTROL OF PV SYSTEM CONNECTED TO SINGLE PHASE GRID THROUGH HALF BRIDGE POWER INVERTER...... 741 M. Aourir, A. Abouloifa, I. Lachkar, A. Hamdoun, F. Giri, F. Cuny

OPTIMIZATION OF ANTI-WINDUP FOR NON-LINEAR SYSTEMS WITH ACTUATOR SATURATION ...... 747 Mitsuru Kanamori, Takuma Saga

OPTIMAL RIGID BODY PRECISE DISPLACEMENT - MINIMIZATION OF ELECTRICAL ENERGY ...... 753 Ilya Ioslovich, Per-Olof Gutman, Raphael Linker, Shai Moshenberg

MODEL PREDICTIVE TORQUE CONTROL OF PERMANENT MAGNET SYNCHRONOUS MACHINES ...... 758 Tobias Englert, Stefan Grüner, Knut Graichen

ROLLING MOTION CONTROL INTRODUCING BACK BENDING FOR ACROBOT COMPOSED OF ROUNDED LINKS ...... 764 Naoto Murakami, Atsuto Sugimori, Tatsuya Ibuki, Mitsuji Sampei

ADAPTING ENERGY OPTIMAL TRAJECTORIES FOR FRICTION-AFFLICTED ELECTROMECHANICAL DRIVES* ...... 770 Adrian Raisch, Oliver Sawodny

MODEL PREDICTIVE CONTROL FOR AN INVERTED-PENDULUM ROBOT WITH TIME-VARYING CONSTRAINTS ...... 776 Takashi Ohhira, Akira Shimada

A NOVEL OBSERVER APPROACH FOR SELF SENSING OF SINGLE-COIL DIGITAL VALVES ...... 782 Tristan Braun, Johannes Reuter, Joachim Rudolph

VISION BASED MEASUREMENT APPLIED TO INDUSTRIAL INSTRUMENTATION...... 788 Eduardo S. F. Dos Santos, William B. Xavier, Ricardo N. Rodrigues, Silvia S. Da C. Botelho, Adriano V. Werhli

PRESSURE BASED APPROACH FOR AUTOMATED FIBER PLACEMENT (AFP) WITH SENSOR BASED FEEDBACK LOOP AND FLEXIBLE COMPONENT IN THE EFFECTOR...... 794 Itzel De Jesus Gonzalez Ojeda, Olivier Patrouix, Yannick Aoustin

RETAINING CONNECTIVITY IN MOBILE COMMUNICATION MESH NETWORKS ...... 800 Alessandro Pisano, Mauro Franceschelli, Alessandro Pilloni, Yuri Shtessel, Elio Usai

DESIGN AND ANALYSIS OF A DECOUPLED XY MEMS MICROGRIPPER WITH INTEGRATED DUAL- AXIS ACTUATION AND FORCE SENSING* ...... 808 Sijie Yang, Qingsong Xu

WIRELESS SENSORS NETWORKS AS BLACK-BOX RECORDER FOR FAST FLIGHT DATA RECOVERY DURING AIRCRAFT CRASH INVESTIGATION...... 814 Kais Mekki, William Derigent, Eric Rondeau, André Thomas

UNKNOWN INPUT OBSERVER BASED ON DISCRETE-TIME NONLINEAR DESCRIPTOR MODEL FOR UNDERSTANDING SITTING CONTROL ...... 820 M. Blandeau, T. M. Guerra, V. Estrada-Manzo, P. Pudlo, F. Gabrielli

AN ADAPTIVE OBSERVER DESIGN FOR TAKAGI-SUGENO TYPE NONLINEAR SYSTEM* ...... 826 Krishnan Srinivasarengan, Jose Ragot, Didier Maquin, Christophe Aubrun

A CONVEX APPROACH FOR REDUCING CONSERVATIVENESS OF KHARITONOV’S-BASED ROBUSTNESS ANALYSIS ...... 832 Marcelino Sánchez, Miguel Bernal

GENERAL PROJECTION NEURAL NETWORK BASED NONLINEAR MODEL PREDICTIVE CONTROL FOR MULTI-ROBOT FORMATION AND TRACKING...... 838 Hanzhen Xiao, C. L. Philip Chen, Tieshan Li, Min Han

TAKAGI–SUGENO FUZZY PAYLOAD ESTIMATION AND ADAPTIVE CONTROL...... 844 Selami Beyhan, Farnaz Eghbal Sarabi, Zsófia Lendek, Robert Babuška

LOCAL OBSERVER DESIGN FOR DISCRETE-TIME TS SYSTEMS* ...... 850 Benoît Marx, Zsófia Lendek

ELECTROCARDIOGRAM R-WAVE IS AN UNRELIABLE INDICATOR OF PULSE WAVE INITIALIZATION...... 856 Joel Balmer, Christopher Pretty, Shun Kamoi, Shaun Davidson, Antoine Pironet, Thomas Desaive, Geoffrey M. Shaw, J. Geoffrey Chase

MODELLING THE REDOX IMBALANCE IN DOMINANT OPTIC ATROPHY: THE CASE OF RESPIRATORY COMPLEX I*...... 862 Nadège Merabet, Joël Bordeneuve, Noélie Davezac

ON THE IDENTIFICATION OF THE PROPOFOL PK/PD MODEL USING BIS MEASUREMENTS ...... 868 Luca Merigo, Fabrizio Padula, Nicola Latronico, Teresa Mendonça, Massimiliano Paltenghi, Paula Rocha, Antonio Visioli

HOW SHOULD WE INTERPRET RETROSPECTIVE BLOOD GLUCOSE MEASUREMENTS? SAMPLING AND INTERPOLATION ...... 874 Kent W. Stewart, Felicity Thomas, Chris Pretty, J. Geoffrey Chase, Geoffrey M. Shaw

THE EFFECT OF VARIABLE VS FIXED FEEDING ON GLYCAEMIC CONTROL IN THE ADULT ICU: VIRTUAL TRIAL EVALUATION...... 880 Kent W. Stewart, Chris Pretty, J. Geoffrey Chase, Geoffrey M. Shaw

MULTIVARIABLE RECURSIVE SUBSPACE IDENTIFICATION WITH APPLICATION TO ARTIFICIAL PANCREAS SYSTEMS...... 886 I. Hajizadeh, M. Rashid, K. Turksoy, S. Samadi, J. Feng, M. Sevil, N. Franz, C. Lazaro, Z. Maloney, E. Littlejohn, A. Cinar

THE DISTURBANCE DECOUPLING PROBLEM FOR HYBRID SYSTEMS WITH STATE-DRIVEN JUMPS...... 892 A. Cristofaro, M. Sassano

OBSERVER-BASED OFFSET-FREE INTERNAL MODEL CONTROL ...... 898 W. P. Heath, M. Polignano, G. Pannocchia

QUASI FULL INFORMATION FEEDBACK CONTROL LAW OF LINEAR SYSTEMS*...... 904 Shuyou Yu, Jing Wang, Jung-Su Kim, Hong Chen, Frank Allgöwer

KERNEL APPROXIMATION APPROACH TO THE L1 OPTIMAL SAMPLED-DATA CONTROLLER SYNTHESIS PROBLEM ...... 910 Jung Hoon Kim, Tomomichi Hagiwara

DATA DRIVEN DESIGN OF TONAL NOISE FEEDBACK CANCELLERS...... 916 Raúl A. Meléndez, Ioan D. Landau, Luc Dugard, Gabriel Buche

STRUCTURAL FEEDBACK LINEARIZATION BASED ON NONLINEARITIES REJECTION ...... 922 L. A. Blas, M. Bonilla, M. Malabre, V. Azhmyakov, S. Salazar

OPTIMAL CONTROL OF ADMISSION PRICES AND SERVICE RATES IN OPEN QUEUEING NETWORKS ...... 928 Sha Chen, Li Xia

THE DATING PROBLEM AND OPTIMAL ORDERING OF SEQUENTIAL OPPORTUNITIES ...... 934 Giuseppe Carlo Calafiore

DISTRIBUTED VARIATIONAL EQUILIBRIUM SEEKING OF MULTI-COALITION GAME VIA VARIATIONAL INEQUALITY APPROACH ...... 940 Xianlin Zeng, Shu Liang, Yiguang Hong

A DISCRETE-TIME STATE OBSERVER APPROACH TO DISCOVERING PORTFOLIO HOLDINGS ...... 946 D. Georges, I. Girerd-Potin

ON DRAWDOWN-MODULATED FEEDBACK CONTROL IN STOCK TRADING...... 952 Chung-Han Hsieh, B. Ross Barmish

IMPACT OF CLIMATE MODEL PARAMETRIC UNCERTAINTY IN AN MPC IMPLEMENTATION OF THE DICE INTEGRATED ASSESSMENT MODEL...... 959 Salman Hafeez, Steven R. Weller, Christopher M. Kellett

ANTI-JERK CONTROL OF A PARALLEL HYBRID ELECTRIFIED VEHICLE WITH DEAD TIME...... 966 Truc Pham, Robert Seifried, Christian Scholz

EFFECTIVENESS OF ACTUATING ON RECTILINEAR BICYCLE BRAKING DYNAMICS ...... 972 Silas Klug, Alessandro Moia, Armin Verhagen, Daniel Görges, Sergio M. Savaresi

AN ELECTRIC PARKING BRAKE MOTOR-ON-CALIPER ACTUATOR MODEL FOR ROBUST DRIVE AWAY CONTROL DESIGN...... 980 E. Raffone

DISTURBANCE ESTIMATION FOR LONGITUDINAL VEHICLE DYNAMICS CONTROL AT LOW SPEEDS...... 987 Martina Joševski, Alexander Katriniok, Andreas Riek, Dirk Abel

CYCLIST’S RIDING STYLE ASSESSMENT VIA INERTIAL MEASUREMENT ...... 994 Alberto Lucchetti, Matteo Corno, Sergio M. Savaresi

MODEL PREDICTIVE CONTROL FOR REAL-TIME POSITION TRACKING OF A CATENARY-FREE TRAM ...... 1000 Gionata Cimini, Youngki Kim, Buz McCain, Jason Siegel, Anna Stefanopoulou

A METHOD TO GET ANALYTICAL REDUNDANCY RELATIONS FOR FAULT DIAGNOSIS...... 1006 Jan Lunze

DISTRIBUTED FAULT DETECTION AND ISOLATION FOR INTERCONNECTED SYSTEMS: A NON- ASYMPTOTIC KERNEL-BASED APPROACH ...... 1013 Peng Li, Francesca Boem, Gilberto Pin, Thomas Parisini

PROBABILISTIC ROBUST PARITY RELATION FOR FAULT DETECTION USING POLYNOMIAL CHAOS...... 1019 Yiming Wan, Eranda Harinath, Richard D. Braatz

FAULT DETECTION AND ESTIMATION USING KERNEL PRINCIPAL COMPONENT ANALYSIS...... 1025 Maya Kallas, Gilles Mourot, Kwami Anani, José Ragot, Didier Maquin

ROBUST FAULT DIAGNOSIS BY OPTIMAL INPUT DESIGN FOR SELF-SENSING SYSTEMS *...... 1031 Dhruv Khandelwal, Siep Weiland, Amol Khalate

DIAGNOSABILITY IMPROVEMENT OF DYNAMIC CLUSTERING THROUGH AUTOMATIC LEARNING OF DISCRETE EVENT MODELS...... 1037 Nathalie A. Barbosa, Louise Travé-Massuyès, Victor H. Grisales

3-D RECONSTRUCTION OF UNDERWATER OBJECT BASED ON EXTENDED KALMAN FILTER BY USING ACOUSTIC CAMERA IMAGES...... 1043 Ngoc Trung Mai, Hanwool Woo, Yonghoon Ji, Yusuke Tamura, Yasuke Tamura, Atsushi Yamashita, Hajime Asama

A FLEXIBLE IN-PIPE ROBOT CAPABLE OF MOVING IN OPEN SPACES VIA A PNEUMATIC ROTARY MECHANISM ...... 1050 Tomonari Yamamoto, Masashi Konyo, Kenjiro Tadakuma, Satoshi Tadokoro

AN AVOIDANCE CONTROL STRATEGY FOR JOINT-POSITION LIMITS OF DUAL-ARM ROBOTS ...... 1056 G. Foresi, A. Freddi, V. Kyrki, A. Monteriù, R. Muthusamy, D. Ortenzi, D. Proietti Pagnotta

RADIATION IMAGING SYSTEM USING A COMPACT GAMMA-RAY IMAGER MOUNTED ON A REMOTELY OPERATED MACHINE ...... 1062 Yuki Sato, Kuniaki Kawabata, Shingo Ozawa, Ryo Izumi, Masaaki Kaburagi, Yuta Tanifuji, Yuta Terasaka, Hiroko Nakamura Miyamura, Takuma Kawamura, Toshikazu Suzuki, Tatsuo Torii

DEVELOPMENT OF A SMALL SURVEY ROBOT WITH A STEP-CLIMBING ABILITY ...... 1067 Kohei Takeda, Tomoki Sakaue, Koju Nishizawa, Shin Yoshino

POSITION TRACKING CONTROL FOR AN AERIAL ROBOT PASSIVELY TETHERED TO AN INDEPENDENTLY MOVING PLATFORM*...... 1069 Marco Tognon, Antonio Franchi

APPLYING VALUE STREAM MAPPING IN MANUFACTURING: A SYSTEMATIC LITERATURE REVIEW ...... 1075 L. F. Romero, A. Arce

PERFORMANCE EVALUATION OF BERNOULLI SERIAL LINES WITH WAITING TIME CONSTRAINTS...... 1087 Jun-Ho Lee, Jingshan Li

UNPACED MERGING LINES WITH UNEVEN BUFFER ALLOCATION...... 1093 Sabry Shaaban, Tom McNamara, Viatcheslav Dmitriev

A BRANCH AND BOUND ALGORITHM FOR THREE-MACHINE FLOW SHOP WITH OVERLAPPING WAITING TIME CONSTRAINTS *...... 1101 Hyun-Jung Kim, Jun-Ho Lee

OPTIMIZATION OF ORDER BATCHING IN A PICKING SYSTEM WITH CAROUSELS ...... 1106 Lenoble Nicolas, Frein Yannick, Hammami Ramzi

AN APPLICATION OF INCREMENTAL SCHEDULING TO A CLUSTER PHOTOLITHOGRAPHY TOOL...... 1114 First S. Ware, Second R. Su

ADAPTIVE KALMAN FILTERING FOR DYNAMIC POSITIONING OF MARINE VESSELS* ...... 1121 Ivan Popov, Philipp Koschorrek, Adel Haghani, Torsten Jeinsch

A DYNAMIC ALLOCATION STRATEGY FOR VOITH SCHNEIDER PROPELLER*...... 1127 Philipp Koschorrek, Michael Palm, Torsten Jeinsch

WAVELET-BASED CONTROLLER DESIGN FOR DYNAMIC POSITIONING OF VESSELS ...... 1133 Awantha Jayasiri, Salim Ahmed, Syed Imtiaz

SIGNED DISTANCE FUNCTION BASED SURFACE RECONSTRUCTION OF A SUBMERGED INLAND MINE USING CONTINUOUS-TIME SLAM ...... 1139 Michael Bleier, André Dias, António Ferreira, John Pidgeon, Jose Almeida, Eduardo Silva, Klaus Schilling, Andreas Nüchter

ADAPTIVE POSITION ESTIMATION FOR VEHICLES USING RANGE MEASUREMENTS...... 1145 Sai Krishna Kanth Hari, Kaarthik Sundar, José Braga, João Teixeira, Swaroop Darbha, João Sousa

DEVELOPMENT AND IMPLEMENTATION OF A HIGH-LEVEL CONTROL SYSTEM FOR THE UNDERWATER REMOTELY OPERATED VEHICLE VISOR3 ...... 1151 Álvaro Gómez, Luis M. Aristizábal, Carlos A. Zuluaga, Julio C. Correa, Rafael E. Vásquez

MODEL-BASED FAULT-TOLERANT CONTROL WITH ROBUSTNESS TO UNANTICIPATED FAULTS* ...... 1157 Laurentz E. Olivier, Ian K. Craig

REDUCING THE ENERGY FOOTPRINT OF GRINDING CIRCUITS: THE PROCESS CONTROL PARADIGM...... 1163 Jocelyn Bouchard, André Desbiens, Éric Poulin

REQUIREMENTS FOR ESTIMATING THE VOLUME OF ROCKS AND BALLS IN A GRINDING MILL ...... 1169 J. D. Le Roux, I. K. Craig

AN ISAMILL™ SOFT SENSOR BASED ON RANDOM FORESTS AND PRINCIPAL COMPONENT ANALYSIS...... 1175 Lara F. A. Napier, Chris Aldrich

MPC MODEL INDIVIDUALIZATION IN FREE-LIVING CONDITIONS: A PROOF-OF-CONCEPT CASE STUDY...... 1181 C. Toffanin, S. Del Favero, E. M. Aiello, M. Messori, C. Cobelli, L. Magni

EFFICIENT IMPLEMENTATION OF DISTINGUISHED CONTROLLERS FOR DISCRETE-EVENT SYSTEMS*...... 1187 Marcelo Rosa, Marcelo Teixeira, Gustavo W. Denardin, Cesar R. C. Torrico, José E. R. Cury

CONSISTENCY CHECKING OF SAFETY CONSTRAINTS FOR MANUFACTURING SYSTEMS WITH GRAPH ANALYSIS ...... 1193 R. Pichard, A. Philippot, B. Riera

DETAILED VISUALIZATION OF COMMUNICATION NETWORK TOPOLOGIES ...... 1199 Holger Zipper, Christian Diedrich

RANDOM LEAD TIMES IN REPLENISHMENT PLANNING FOR SINGLE-LEVEL ASSEMBLY SYSTEMS: THE VALUE OF INFORMATION ...... 1205 Valeria Borodin, Faicel Hnaien, Alexandre Dolgui

MULTI-MANNED ASSEMBLY LINE BALANCING PROBLEM WITH SKILLED WORKERS: A NEW MATHEMATICAL FORMULATION ...... 1211 Davide Giglio, Massimo Paolucci, Abdolreza Roshani, Flavio Tonelli

AUTOMATIC ANALYSIS AND ADAPTION OF THE INTERFACE OF AUTOMATED MATERIAL FLOW SYSTEMS TO IMPROVE BACKWARDS COMPATIBILITY...... 1217 T. Aicher, D. Schütz, M. Spindler, S. Liu, W. A. Gunthner, B. Vogel-Heuser

MODELING FLEXIBLE WORKSHOPS SCHEDULING PROBLEMS: EVALUATING A TIMED AUTOMATA BASED APPROACH VS MILP ...... 1225 S. Himmiche, A. Aubry, P. Marangé, J-F Pétin

AN OPEN CPPS AUTOMATION ARCHITECTURE BASED ON IEC-61499 OVER OPC-UA FOR FLEXIBLE MANUFACTURING IN OIL&GAS INDUSTRY...... 1231 Marcelo V. García, Edurne Irisarri, Federico Pérez, Elisabet Estévez, Marga Marcos

PREDICTIVE FEEDFORWARD COMPENSATOR FOR DEAD-TIME PROCESSES* ...... 1239 A. Pawlowski, C. Rodríguez, J. L. Guzmán, M. Berenguel, S. Dormido

STATE FEEDBACK STABILIZATION OF LINEAR SYSTEMS WITH UNKNOWN INPUT TIME DELAY ...... 1245 Filippo Cacace, Francesco Conte, Alfredo Germani

FLEXIBLE MODE COMPENSATION BY INVERSE SHAPER IN THE LOOP WITH MAGNITUDE SATURATED ACTUATORS* ...... 1251 Baran Alikoç, Jaroslav Bušek, Tomáš Vyhlídal, Martin Hromcík, Ali Fuat Ergenç

STABILITY OF SAMPLED-DATA SYSTEMS WITH UNCERTAIN TIME-VARYING DELAYS AND ITS APPLICATION TO CONSENSUS CONTROL OF MULTI-AGENT SYSTEMS...... 1257 Yasutaka Hayashida, Laurentiu Hetel, Toshiki Oguchi, Jean-Pierre Richard

IMPULSIVE OBSERVER DESIGN FOR LINEAR SYSTEMS WITH DELAYED OUTPUTS ...... 1263 Zohra Kader, Gang Zheng, Jean-Pierre Barbot

PID TUNING FOR TIME-VARYING DELAY SYSTEMS BASED ON MODIFIED SMITH PREDICTOR...... 1269 Fúlvia S. S. De Oliveira, Fernando O. Souza, Reinaldo M. Palhares

ALLOWABLE DELAY SETS FOR THE STABILITY ANALYSIS OF LINEAR TIME-VARYING DELAY SYSTEMS USING A DELAY-DEPENDENT RECIPROCALLY CONVEX LEMMA* ...... 1275 Alexandre Seuret, Frédéric Gouaisbaut

NEW METHOD FOR STABILITY OF SYSTEMS WITH TIME-VARYING DELAY VIA IMPROVED FREE- MATRIX-BASED INTEGRAL INEQUALITY * ...... 1281 Ya-Li Zhi, Yong He, Chuan-Ke Zhang, Min Wu

A CONNECTION BETWEEN STRANGENESS-FREE DELAY DIFFERENTIAL-ALGEBRAIC AND NEUTRAL TYPE SYSTEMS* ...... 1286 Alexey V. Egorov, Wim Michiels

STABILITY ANALYSIS AND OUTPUT-FEEDBACK CONTROL DESIGN FOR TIME-DELAY SYSTEMS*...... 1292 Caetano B. Cardeliquio, Matheus Souza, André R. Fioravanti

STABILIZING DELAYED CONTROLLERS FOR RECYCLING SYSTEMS WITH INTERNAL DELAYS AND COMPLEX DYNAMICS...... 1298 R. J. Vazquez Guerra, J. F. Marquez Rubio, B. Del-Muro-Cuéllar

MIXED-SENSITIVITY DESIGN OF A DYNAMIC CONTROLLER FOR SYSTEMS PRE-COMPENSATED BY INPUT SHAPERS ...... 1304 Dan Pilbauer, Wim Michiels, Tomáš Vyhlídal, Martin Hromcík

GEOMETRIC VS. ALGEBRAIC APPROACH: A STUDY OF DOUBLE IMAGINARY CHARACTERISTIC ROOTS IN TIME-DELAY SYSTEMS...... 1310 Dina Irofti, Islam Boussaada, Silviu-Iulian Niculescu

DELAYED MODEL APPROXIMATION AND CONTROL DESIGN FOR UNDER-DAMPED SYSTEMS ...... 1316 David F. Novella-Rodríguez, Basilio Del Muro-Cuéllar, German Hernandez-Hernández, Juan F. Marquez-Rubio

TRACKING CONTROL OF KNEE EXOSKELETON SYSTEM WITH TIME-DEPENDENT INERTIAL AND VISCOUS PARAMETERS ...... 1322 Zhan Li, Ziguang Yin, Hong Cheng

PART 3

SWING CONTROL OF A LOWER EXTREMITY EXOSKELETON USING ECHO STATE NETWORKS ...... 1328 Byunghun Choi, Changhoon Seo, Sanghoon Lee, Byungun Kim, Dojong Kim

ROBUSTNESS ISSUES IN DOUBLE-INTEGRATOR UNDIRECTED RIGID FORMATION SYSTEMS ...... 1334 Zhiyong Sun, Brian D. O. Anderson, Shaoshuai Mou, A. Stephen Morse

RECURSIVE ROBUST REGULATOR FOR DISCRETE-TIME MARKOVIAN JUMP LINEAR SYSTEMS: CONTROL OF SERIES ELASTIC ACTUATORS*...... 1340 Andres L. Jutinico, Jonathan C. Jaimes, Felix M. Escalante, Juan C. Perez-Ibarra, Marco H. Terra, Adriano A. G. Siqueira

A NEW CONTROL ARCHITECTURE FOR STABLE AND TRANSPARENT HAPTIC FEEDBACK OF INTERACTIVE SIMULATION ...... 1346 Myeongjin Kim, Doo Yong Lee

AN ADAPTIVE APPROACH TO COOPERATIVE LONGITUDINAL PLATOONING OF HETEROGENEOUS VEHICLES WITH COMMUNICATION LOSSES*...... 1352 Youssef Abou Harfouch, Shuai Yuan, Simone Baldi

OPERATOR KNOWLEDGE INCLUSION IN DATA-MINING APPROACHES FOR PRODUCT QUALITY ASSURANCE USING CAUSE-EFFECT GRAPHS ...... 1358 B. Vogel-Heuser, V. Karaseva, J. Folmer, I. Kirchen

ANKLE JOINT MOMENT ESTIMATION BASED ON SMART SHOES*...... 1366 Hyunjin Choi, Kanghyun Kim, Pyeong-Gook Jung, Byeonghun Na, Dong-Wook Rha, Kyungmo Jung, Kyoungchul Kong

A METHOD FOR DESIGNING LEVELS OF AUTOMATION BASED ON A HUMAN-MACHINE COOPERATION MODEL...... 1372 L. Habib, M. P. Pacaux-Lemoine, P. Millot

DESIGNING HUMAN-MACHINE INTERACTION CONCEPTS FOR MACHINE TOOL CONTROLS REGARDING ERGONOMIC REQUIREMENTS...... 1378 Julia N. Czerniak, Christopher Brandl, Alexander Mertens

ADAPTIVE CONTROL OF AN ACTUATED ANKLE FOOT ORTHOSIS FOR FOOT-DROP CORRECTION ...... 1384 Victor Arnez-Paniagua, Hala Rifai, Samer Mohammed, Yacine Amirat

ON OPERATING ENVELOPE PROTECTION DESIGN FOR NONLINEAR DISCRETE-TIME SYSTEMS ...... 1390 Nikola Hure, Mario Vašak

ASYMPTOTIC STABILIZATION OF NONLINEAR SYSTEMS WITH CONVEX-POLYTOPE INPUT CONSTRAINTS AND ITS INVERSE OPTIMALITY* ...... 1397 Yuh Yamashita, Ryosuke Matsukizono, Koichi Kobayashi

IMPROVEMENTS ON INTERPOLATION TECHNIQUES BASED ON LINEAR PROGRAMMING FOR CONSTRAINED CONTROL * ...... 1403 Daniel Rubin, Pedro Mercader, Hoai-Nam Nguyen, Per-Olof Gutman, Alfonso Baños

DIRECTIONAL DRILLING ATTITUDE CONTROL WITH INPUT DISTURBANCES AND FEEDBACK DELAY* ...... 1409 Isonguyo J. Inyang, James F. Whidborne, Martin T. Bayliss

UNIFORMLY ULTIMATELY BOUNDED TRACKING FOR UNCERTAIN EULER-LAGRANGE SYSTEMS WITH UNKNOWN TIME-VARYING INPUT DELAY...... 1415 Ashish Kumar Jain, Shubhendu Bhasin

ADAPTIVE OBSERVER DESIGN FOR A CLASS OF NONLINEAR INTERCONNECTED SYSTEMS WITH UNCERTAIN TIME VARYING PARAMETERS...... 1421 Mokhtar Mohamed, Xing-Gang Yan, Zehui Mao, Bin Jiang

OBSERVER DESIGN FOR A CLASS OF UNCERTAIN SYSTEMS WITH DELAYED OUTPUTS...... 1427 M. Farza, O. Hernández-González, T. Ménard, M. M’Saad, C.-M. Astorga-Zaragoza

A NEW FUZZY H∞ FILTER DESIGN FOR NONLINEAR TIME-DELAY SYSTEMS WITH MISMATCHED PREMISE MEMBERSHIP FUNCTIONS* ...... 1433 Qianqian Ma, Li Li, Guangcheng Ma, Daling Jia, Hongwei Xia

STATE AND UNKNOWN INPUTS FINITE TIME ESTIMATION FOR TIME-VARYING NONLINEAR LIPSCHITZ SYSTEMS WITH UNCERTAIN DISTURBANCES*...... 1439 Alexander I. Malikov

CASCADE HIGH GAIN OBSERVERS BASED STATE AND UNKNOWN INPUT RECONSTRUCTION ...... 1445 S. Hadj Saïd, M. Farza, F. M’Sahli, T. Menard

NONLINEAR ANALYSIS OF PLL BY THE HARMONIC BALANCE METHOD: LIMITATIONS OF THE PULL-IN RANGE ESTIMATION...... 1451 E. V. Kudryashova, N. V. Kuznetsov, G. A. Leonov, M. V. Yuldashev, R. V. Yuldashev

ROBUST HYBRID PI CONTROLLER WITH A SIMPLE ADAPTATION IN THE INTEGRATOR RESET STATE ...... 1457 Ignacio Rubio Scola, Mariella M. Quadros, Valter J. S. Leite

SEQUENTIAL LINEAR QUADRATIC OPTIMAL CONTROL FOR NONLINEAR SWITCHED SYSTEMS ...... 1463 Farbod Farshidian, Maryam Kamgarpour, Diego Pardo, Jonas Buchli

ROBUSTIFICATION AND PARAMETRIZATION OF SWITCHING CONTROLLERS FOR A CLASS OF SET INVARIANCE PROBLEMS* ...... 1470 Liren Yang, Necmiye Ozay

GAIN-SCHEDULED NASH GAMES WITH H∞ CONSTRAINT FOR STOCHASTIC LPV SYSTEMS*...... 1478 Hiroaki Mukaidani, Masaru Unno, Hua Xu, Vasile Dragan

LINEAR STOCHASTIC DIFFERENTIAL GAMES WITH STATE DEPENDENT FRACTIONAL BROWNIAN MOTION ...... 1484 T. E. Duncan, B. Pasik-Duncan

STRATEGIES IN A STOCHASTIC PURSUER-EVADER GAME...... 1489 Gyrgy Hexner, Ilan Rusnak, Haim Weiss

NECESSARY AND SUFFICIENT SOLUTION TO OPTIMAL CONTROL FOR LINEAR CONTINUOUS TIME MEAN-FIELD SYSTEM *...... 1495 Qingyuan Qi, Huanshui Zhang

OPTIMAL CONTROL AND NONZERO-SUM GAME OF STOCHASTIC DIFFERENTIAL SYSTEM AND APPLICATION TO FINANCE MARKET*...... 1502 Liuwei Zhou, Wuneng Zhou, Jun Zhou, Xiuqin Liu

PAYOFF-BASED APPROACH TO LEARNING NASH EQUILIBRIA IN CONVEX GAMES *...... 1508 T. Tatarenko, M. Kamgarpour

ROBUST LINEAR PARAMETER VARYING MODEL PREDICTIVE CONTROL AND ITS APPLICATION TO WHEEL SLIP CONTROL...... 1514 Clemens Satzger, Ricardo De Castro, Andreas Knoblach

ON THE CAPABILITY OF PID CONTROL FOR NONLINEAR UNCERTAIN SYSTEMS...... 1521 Cheng Zhao, Lei Guo

DISCRETE-TIME H∞ PREVIEW FEEDFORWARD CONTROLLER USING UNCERTAIN PRIOR EXTERNAL INPUT INFORMATION VIA GKYP LEMMA* ...... 1527 Masayuki Sato

AN IMPROVED APPROACH TO DESIGN LINEAR PARAMETER-VARYING CONTROLLERS SUBJECT TO UNCERTAIN PARAMETER MEASUREMENTS * ...... 1533 Gijs Hilhorst, Goele Pipeleers

DISCRETE-TIME TRIALS FOR TUNING WITHOUT A MODEL * ...... 1539 Franco Blanchini, Gianfranco Fenu, Giulia Giordano, Felice Andrea Pellegrino

PSEUDO-PID ROBUST TRACKING DESIGN METHOD FOR A SIGNIFICANT CLASS OF UNCERTAIN MIMO SYSTEMS ...... 1545 Laura Celentano

DICTIONARY LEARNING STRATEGIES FOR SENSOR PLACEMENT AND LEAKAGE ISOLATION IN WATER NETWORKS ...... 1553 Paul Irofti, Florin Stoican

BLACK-BOX IDENTIFICATION OF A PILOT-SCALE DRYER MODEL: A SUPPORT VECTOR REGRESSION AND AN IMPERIALIST COMPETITIVE ALGORITHM APPROACH...... 1559 Robert Salat, Michal Awtoniuk, Krzysztof Korpysz

EXPONENTIAL STABILIZATION OF TORSIONAL VIBRATIONS IN ROTARY DRILLING SYSTEMS...... 1565 Samir Toumi, Lotfi Beji, Rhouma Mlayeh, Azgal Abichou

IDENTIFICATION OF THE NON-LINEAR DYNAMICS AND STATE OF CHARGE ESTIMATION OF A LIFEPO4 BATTERY USING CONSTRAINED UNSCENTED KALMAN FILTER...... 1571 Syam Parakkadavath, Bharath Bhikkaji

AN ONLINE NONLINEAR IDENTIFICATION METHOD FOR ESTIMATION OF MAGNETIZING CURVE AND PARAMETERS OF AN INDUCTION MOTOR*...... 1577 Yashar Kouhi, Jana Kertzscher

SET-VALUED SYSTEM IDENTIFICATION METHODS IN RETROSPECTIVE COHORT STUDY AND APPLICATIONS TO GWAS...... 1583 Hang Zhang, Wenjian Bi, Yanlong Zhao, Long Cheng

CHARACTERIZATION OF “LOW-PASS FILTERING” FOR SOME NONLINEAR ODE’S...... 1589 Samer Riachy

INTERVAL KALMAN FILTER ENHANCED BY POSITIVE DEFINITE UPPER BOUNDS...... 1595 Tuan Anh Tran, Carine Jauberthie, Françoise Le Gall, Louise Travé-Massuyès

STATE ESTIMATION BY CONTINUOUS-TIME OBSERVATIONS IN MULTIPLICATIVE NOISE * ...... 1601 Andrey V. Borisov, Konstantin V. Semenikhin

APPROXIMATED UNBIASED MINIMUM-VARIANCE SIMULTANEOUS STATES AND PARAMETERS ESTIMATION FOR NONLINEAR SYSTEMS ...... 1607 Shinji Ishihara, Masaki Yamakita

SMOOTHED STATE ESTIMATION VIA EFFICIENT SOLUTION OF LINEAR EQUATIONS*...... 1613 Li-Hui Geng, Brett Ninness, Adrian Wills, Thomas Schön

THE UD-BASED APPROACH FOR DESIGNING PAIRWISE KALMAN FILTERING ALGORITHMS...... 1619 Maria V. Kulikova, Julia V. Tsyganova

TIME-OPTIMAL AIRCRAFT TRAJECTORIES IN CLIMBING PHASE AND SINGULAR PERTURBATIONS ...... 1625 Olivier Cots, Joseph Gergaud, Damien Goubinat

A REDUCTION METHOD FOR RICCATI-BASED CONTROL OF THE FOKKER-PLANCK EQUATION ...... 1631 Tobias Breiten, Karl Kunisch, Laurent Pfeiffer

CONSTRAINED AND IMPULSIVE LINEAR QUADRATIC CONTROL PROBLEMS ...... 1637 Cristopher Hermosilla, Peter Wolenski

AN ADAPTIVE MULTILEVEL RADIAL BASIS FUNCTION SCHEME FOR THE HJB EQUATION * ...... 1643 G. Ferretti, R. Ferretti, O. Junge, A. Schreiber

APPROXIMATION BY FILTERING IN OPTIMAL CONTROL AND APPLICATIONS * ...... 1649 Jean-Baptiste Caillau, Thierry Dargent, Florentina Nicolau

THE HUGHES MODEL FOR PEDESTRIAN DYNAMICS AND CONGESTION MODELLING*...... 1655 Elisabetta Carlini, Adriano Festa, Francisco J. Silva

SMOOTH LYAPUNOV FUNCTIONS FOR MULTISTABLE DIFFERENTIAL INCLUSIONS...... 1661 Paolo Forni, David Angeli

LYAPUNOV FUNCTION SYNTHESIS - INFEASIBILITY AND FARKAS’ LEMMA*...... 1667 Tobias Leth, Christoffer Sloth, Rafal Wisniewski, Sriram Sankaranarayanan

INCREMENTAL STABILITY OF LUR’E SYSTEMS THROUGH PIECEWISE-AFFINE APPROXIMATIONS ...... 1673 Sérgio Waitman, Laurent Bako, Paolo Massioni, Gérard Scorletti, Vincent Fromion

PREDEFINED-TIME BACKSTEPPING CONTROL FOR TRACKING A CLASS OF MECHANICAL SYSTEMS*...... 1680 Esteban Jiménez-Rodríguez, Juan Diego Sánchez-Torres, Alexander G. Loukianov

QUANTIFYING THE PERFORMANCE OF OPTIMAL FREQUENCY REGULATORS IN THE PRESENCE OF INTERMITTENT COMMUNICATION DISRUPTIONS ...... 1686 Erik Weitenberg, Claudio De Persis, Nima Monshizadeh

DECENTRALIZED STABILIZATION OF INFINITE NETWORKS OF SYSTEMS WITH NONLINEAR DYNAMICS AND UNCONTROLLABLE LINEARIZATION ...... 1692 Sergey Dashkovskiy, Svyatoslav Pavlichkov

SLIDING-MODE-BASED DIFFERENTIATION AND ITS APPLICATION...... 1699 Arie Levant, Miki Livne, Xinghuo Yu

LEVANT’S ARBITRARY ORDER DIFFERENTIATOR WITH VARYING GAIN ...... 1705 Jaime A. Moreno

A ROBUST EXACT DIFFERENTIATOR TOOLBOX FOR MATLAB®/SIMULINK®...... 1711 M. Reichhartinger, S. K. Spurgeon, M. Forstinger, M. Wipfler

ON CAUSALITY OF SLIDING-MODE DIFFERENTIATORS ...... 1717 Igor M. Boiko

BARRIER ADAPTIVE FIRST ORDER SLIDING MODE DIFFERENTIATOR...... 1722 H. Obeid, L. Fridman, S. Laghrouche, M. Harmouche

HOSM DIFFERENTIATOR WITH VARYING GAINS FOR GLOBAL/SEMI-GLOBAL OUTPUT FEEDBACK*...... 1728 Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Antonio Estrada, Leonid M. Fridman

TOPOLOGY-INDEPENDENT ROBUST STABILITY OF HOMOGENEOUS DYNAMIC NETWORKS* ...... 1736 Franco Blanchini, Daniele Casagrande, Giulia Giordano, Umberto Viaro

ASYNCHRONOUS AGREEMENT THROUGH DISTRIBUTED COORDINATION ALGORITHMS ASSOCIATED WITH PERIODIC MATRICES*...... 1742 Yuzhen Qin, Ming Cao, Brian D. O. Anderson

OUTPUT SYNCHRONIZATION OF LINEAR MIMO HETEROGENEOUS MULTI-AGENT SYSTEMS VIA OUTPUT COMMUNICATION ...... 1748 Lijun Zhu, Xi Chen, Zhiyong Chen, David J. Hill

ROBUST QUATERNION-BASED COOPERATIVE MANIPULATION WITHOUT FORCE/TORQUE INFORMATION* ...... 1754 Christos K. Verginis, Matteo Mastellaro, Dimos V. Dimarogonas

DISTRIBUTED ALGORITHM FOR CONTROLLING SCALE-FREE POLYGONAL FORMATIONS *...... 1760 Hector Garcia De Marina, Bayu Jayawardhana, Ming Cao

DISTRIBUTED DECOUPLING OF PARTIALLY-UNKNOWN INTERCONNECTED LINEAR MULTIAGENT SYSTEMS: STATE AND OUTPUT FEEDBACK APPROACHES ...... 1766 Vahid Rezaei, Margareta Stefanovic

MODELING, ANALYSIS AND CONTROL OF DISCRETE EVENT SYSTEMS: A PETRI NET PERSPECTIVE...... 1772 Alessandro Giua, Manuel Silva

MAX-PLUS ALGEBRA AND DISCRETE EVENT SYSTEMS...... 1784 J. Komenda, S. Lahaye, J.-L. Boimond, T. Van Den Boom

SUPERVISORY CONTROL OF DISCRETE-EVENT SYSTEMS: A BRIEF HISTORY – 1980-2015...... 1791 W. M. Wonham, Kai Cai, Karen Rudie

FEEDBACK STABILIZATION: FROM GEOMETRY TO CONTROL...... 1798 Z. Szabó, J. Bokor, T. Vámos

ADVANCED TUNING FOR ZIEGLER-NICHOLS PLANTS ...... 1805 Iván D. Díaz-Rodríguez, Sangjin Han, L. H. Keel, S. P. Bhattacharyya

A B-SPLINES BASED FEEDFORWARD ACTION FOR CONSTRAINED OPTIMIZATION OF PID CONTROLLERS PERFORMANCE...... 1811 Leopoldo Jetto, Valentina Orsini, Raffaele Romagnoli

SYNCHRONIZATION OF LINEAR AGENTS WITH INPUT/OUTPUT CONSTRAINTS...... 1817 Kiyotsugu Takaba

PRESCRIBING TRANSIENT AND ASYMPTOTIC BEHAVIOUR OF LTI SYSTEMS WITH STOCHASTIC INITIAL CONDITIONS ...... 1822 Martijn Dresscher, Bayu Jayawardhana

OPTIMIZATION-BASED CONTROL FOR MULTI-AGENT DEPLOYMENT VIA DYNAMIC VORONOI PARTITION...... 1828 M. T. Nguyen, C. Stoica Maniu, S. Olaru

A GRÖBNER BASIS APPROACH TO SOLVE A RANK MINIMIZATION PROBLEM ARISING IN 2D- IDENTIFICATION...... 1834 P. Rapisarda

ALGORITHMS FOR VERIFICATION OF CHARACTERISTIC SETS OF DISCRETE AUTONOMOUS ND SYSTEMS WITH N ≥ 2...... 1840 Mousumi Mukherjee, Debasattam Pal

COMPUTING EFFECTIVELY STABILIZING CONTROLLERS FOR A CLASS OF ND SYSTEMS...... 1847 Yacine Bouzidi, Thomas Cluzeau, Guillaume Moroz, Alban Quadrat

STRUCTURAL STABILITY AND ASYMPTOTIC STABILITY FOR LINEAR MULTIDIMENSIONAL SYSTEMS: A COUNTEREXAMPLE *...... 1853 R. David, O. Bachelier, T. Cluzeau, F. Silva, Na. Yeganefar, Ni. Yeganefar

AN ALGEBRAIC APPROACH TO THE OBSERVER-BASED FEEDBACK STABILIZATION OF LINEAR 2D DISCRETE MODELS ...... 1859 Olivier Bachelier, Thomas Cluzeau, Ronan David, Nima Yeganefar

REDUCTION OF DISCRETE LINEAR REPETITIVE PROCESSES TO NONSINGULAR ROESSER MODELS VIA ELEMENTARY OPERATIONS * ...... 1865 M. S. Boudellioua, Krzysztof Galkowski, Eric Rogers

ROBUST ADAPTIVE MODEL PREDICTIVE BUILDING CLIMATE CONTROL...... 1871 Marko Tanaskovic, David Sturzenegger, Roy Smith, Manfred Morari

DUAL RATE ADAPTIVE CONTROL FOR AN INDUSTRIAL HEAT SUPPLY PROCESS USING SIGNAL COMPENSATION APPROACH ...... 1877 Tian-You Chai, Yao Jia, Hong Wang, Chun-Yi Su

A NEW APPROACH FOR FLUX AND ROTOR RESISTANCE ESTIMATION OF INDUCTION MOTORS*...... 1885 Dmitry N. Bazylev, Arnau Doria-Cerezo, Anton A. Pyrkin, Alexey A. Bobtsov, Romeo Ortega

A UGAS SENSORLESS OBSERVER FOR PERMANENT MAGNETS SYNCHRONOUS MACHINES INCLUDING ESTIMATION AND COMPENSATION OF DEAD-TIMES EFFECTS...... 1891 A. Tilli, C. Conficoni, A. Bosso

NONLINEAR MODELING AND OBSERVER FOR SUPERCAPACITORS IN ELECTRIC VEHICLE APPLICATIONS...... 1898 H. El Fadil, F. Z. Belhaj, A. Rachid, F. Giri, T. Ahmed-Ali

ADAPTATION OF AIRCRAFT’S WINGS ELEMENTS IN TURBULENT FLOWS BY LOCAL VOTING PROTOCOL ...... 1904 Oleg Granichin, Tatjana Khantuleva, Natalia Amelina

OPTIMAL MOTION PLANNING FOR NON-HOLONOMIC ROBOTIC SYSTEMS *...... 1910 Krzysztof Tchon, Ida Góral

AUTONOMOUS DRIFT CORNERING WITH MIXED OPEN-LOOP AND CLOSED-LOOP CONTROL...... 1916 F. Zhang, J. Gonzales, K. Li, F. Borrelli

TWO-DEGREE-OF-FREEDOM CONTROL FOR TRAJECTORY TRACKING AND PERTURBATION RECOVERY DURING EXECUTION OF DYNAMICAL MOVEMENT PRIMITIVES* ...... 1923 Martin Karlsson, Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson

SWITCHED CONTROL OF A SCARA ROBOT WITH SHARED ACTUATION RESOURCES*...... 1931 A. Van Der Maas, Y. F. Steinbuch, A. Boverhof, W. P. M. H. Heemels

EFFICIENT GENERATION OF FAST TRAJECTORIES FOR GANTRY CRANES WITH CONSTRAINTS ...... 1937 Martin Böck, Andreas Stöger, Andreas Kugi

BÉZIER CURVE BASED TRAJECTORY GENERATION AND NONLINEAR FRICTION COMPENSATION FOR FEED DRIVE CONTOURING CONTROL* ...... 1944 Kenneth Renny Simba, Gunter Heppeler, Ba Dinh Bui, Yogi Muldani Hendrawan, Oliver Sawodny, Naoki Uchiyama

DESIGN OF NONLINEAR PREDICTIVE CONTROL FOR PNEUMATIC MUSCLE ACTUATOR BASED ON ECHO STATE GAUSSIAN PROCESS*...... 1952 Yu Cao, Jian Huang, Gangzheng Ding, Yongji Wang

STIFFNESS AND DAMPING REAL-TIME CONTROL ALGORITHMS FOR ADJUSTABLE SUSPENSIONS : A STRATEGY TO REDUCE DYNAMICAL EFFECTS ON VEHICLES IN OFF-ROAD CONDITIONS*...... 1958 Mathieu Deremetz, Roland Lenain, Benoit Thuilot

VISUAL INERTIAL SLAM: APPLICATION TO UNMANNED AERIAL VEHICLES ...... 1965 Geoff Fink, Mirko Franke, Alan F. Lynch, Klaus Röbenack, Bryan Godbolt

DESIGN OF PASSIVITY BASED CYBER PHYSICAL SYSTEM WITH MARKOVIAN LOSSES AND DELAY...... 1971 Padmini Singh, Laxmidhar Behera, Nishchal K. Verma

SPATIAL ITERATIVE LEARNING CONTROL: OUTPUT TRACKING...... 1977 Merid Lješnjanin, Ying Tan, Denny Oetomo, Christopher T. Freeman

CERTIFIABLE SOFTWARE ARCHITECTURE FOR HUMAN ROBOT COLLABORATION IN INDUSTRIAL PRODUCTION ENVIRONMENTS* ...... 1983 Stefan Brending, Michael Lawo, Jürgen Pannek, Tobias Sprodowski,Patrick Zeising, Daniela Zimmermann

ENTHALPY CONTROL FOR THE FEED WATER SUPPLY IN A ONCE-THROUGH BOILER WITH DISTURBANCE ESTIMATION*...... 1991 Christoph Josef Backi

PART 4

INTEGRATED CONTROL AND PROCESS DESIGN IN CFB BOILER DESIGN AND CONTROL - APPLICATION POSSIBILITIES...... 1997 Matias Hultgren, Enso Ikonen, Jenö Kovács

UTILIZATION OF DRUM BOILERS’ STORAGE CAPACITY FOR FLEXIBLE OPERATION...... 2005 Yrjö Majanne, Timo Yli-Fossi, Timo Korpela, Maria Nurmoranta, Jukka Kortela

OPTIMAL PARTITIONING OF A BOILER-TURBINE UNIT FOR FUZZY MODEL PREDICTIVE CONTROL ...... 2011 M. Killian, M. Kozek

ENERGY AND EXERGY ANALYSES OF A SUBCRITICAL PULVERISED COAL-FIRED BOILER BASED ON THE EFFECTS OF SLAGGING AND FOULING...... 2017 C. A. Martinson, G. Van Schoor, K. R. Uren

CONTROL STRUCTURE DESIGN FOR OXY-FIRED CIRCULATING FLUIDIZED BED BOILERS USING SELF-OPTIMIZING CONTROL AND PARTIAL RELATIVE GAIN ANALYSES...... 2023 Laura Niva, Matias Hultgren, Enso Ikonen, Jenö Kovács

NOMINAL STIFFNESS IDENTIFICATION FOR TUMOR DETECTION OF WOMEN BREAST IN A DIGITAL IMAGE ELASTO TOMOGRAPHY (DIET) SYSTEM...... 2031 Cong Zhou, J. Geoffrey Chase, Hina Ismail, Chris Pretty, Geoffrey W. Rodgers, Matthew K. Signal, Marcus Haggers

SENSITIVITY ANALYSIS FOR STIFFNESS IDENTIFICATION USING A DIET BREAST CANCER SCREENING SYSTEM...... 2037 Cong Zhou, J. Geoffrey Chase, Hina Ismail, Chris Pretty, Geoffrey W. Rodgers, Matthew K. Signal, Marcus Haggers

QUALITATIVE MODELING OF PRESSURE VS. PAIN RELATIONS IN WOMEN SUFFERING FROM DYSPAREUNIA ...... 2043 Damiano Varagnolo, Steffi Knorn, Reinhilde Melles, Marieke Dewitte

HYBRID IN SILICO EVALUATION APPROACH FOR ASSESSING INSULIN DOSING STRATEGIES *...... 2051 Florian Reiterer, Matthias Reiter, Luigi Del Re

CLOSED-LOOP BLOOD GLUCOSE CONTROL USING INSULIN AND CARBOHYDRATES IN FRONT MEALS AND EXERCISE...... 2058 Aleix Beneyto, Josep Vehi

AN AUTO-REGRESSIVE MODEL FOR AN ARTERIAL CONTINUOUS GLUCOSE MONITORING SENSOR ...... 2064 Tony Zhou, Jennifer Dickson, J. Geoffrey Chase

QUALITY ASSESSMENT OF LYAPUNOV-METZLER METHODS FOR DISCRETE-TIME SWITCHED CONTROL *...... 2070 C. M. Motta, A. R. Fioravanti, M. Souza, A. P. C. Gonçalves

H2 AND H∞ ANALYSIS FOR DISCRETE-TIME CONSTRAINED SWITCHED LINEAR SYSTEMS*...... 2076 V. B. Falchetto, M. Souza, A. R. Fioravanti, R. N. Shorten

MEAN STABILITY AND STABILIZATION OF POSITIVE LINEAR SYSTEMS SUBJECT TO MODE- DEPENDENT POISSON JUMPS ...... 2082 Paolo Bolzern, Patrizio Colaneri

REACHABLE SETS OF HIDDEN CPS SENSOR ATTACKS: ANALYSIS AND SYNTHESIS TOOLS...... 2088 Carlos Murguia, Nathan Van De Wouw, Justin Ruths

FREQUENCY-DOMAIN DATA-DRIVEN CONTROL DESIGN IN THE LOEWNER FRAMEWORK ...... 2095 P. Kergus, C. Poussot-Vassal, F. Demourant, S. Formentin

A QUADRATIC BOUNDEDNESS APPROACH TO FAULT TOLERANT CONTROL FOR NONLINEAR SYSTEM...... 2101 Mariusz Buciakowski, Marcin Witczak, Józef Korbicz

OPTIMAL CURRENT TRAJECTORIES FOR POWER CONVERTERS WITH MINIMAL COMMON MODE VOLTAGE ...... 2107 Peter Hokayem, Ivan Pejcic, Nikolaos Oikonomou

A FAST ACTIVE-BALANCING METHOD FOR THE 3-PHASE MULTILEVEL FLYING CAPACITOR INVERTER DERIVED FROM CONTROL ALLOCATION THEORY...... 2113 Abdelkader Bouarfa, Marc Bodson, Maurice Fadel

BINARY SIGNALS DESIGN TO CONTROL THE MATRIX CONVERTER IN THE CONTEXT OF SMART GRIDS...... 2119 Jeremy Van Gorp, Mohunparsad Caussy, Cyrille Gillot

DESIGN AND SIMULATION OF A KIND OF WIDE, HIGH INPUT VOLTAGE DC-DC CONVERTER FOR PV ...... 2125 Yang Yang, Qiuxuan Wu, Weijie Lin, Xiaoni Chi, Donglian Liu, Aipeng Jiang

A THIRD HARMONIC INJECTED PWM SCHEME WITH PARTIAL FEEDBACK LINEARIZING CONTROLLER FOR GRID-CONNECTED ULTRACAPACITOR SYSTEM ...... 2131 S. M. Mohiuddin, M. A. Mahmud, H. R. Pota

ACTIVE POWER CONTROL FOR WIND FARMS BASED ON MPC COMBINED WITH STATE CLASSIFICATION...... 2137 Miao Liu, Jianxiao Zou, Chao Peng, Yucen Xie, Mingwei Li

EFFECTS OF BATTERY CHARGE ACCEPTANCE AND BATTERY AGING IN COMPLETE VEHICLE ENERGY MANAGEMENT*...... 2145 Z. Khalik, T. C. J. Romijn, M. C. F. Donkers, S. Weiland

STATE OF CHARGE ESTIMATION VIA EXTENDED KALMAN FILTER DESIGNED FOR ELECTROCHEMICAL EQUATIONS...... 2152 Sepideh Afshar, Kirsten Morris, Amir Khajepour

STATE OF CHARGE ESTIMATION ACCURACY IN CHARGE SUSTAINABLE MODE OF HYBRID ELECTRIC VEHICLES ...... 2158 Imene Mansour, Erik Frisk, Adel Jemni, Mattias Krysander, Noureddine Liouane

STATISTICAL MODELING OF OCV-CURVES FOR AGED BATTERY CELLS...... 2164 Anton Klintberg, Emil Klintberg, Björn Fridholm, Hannes Kuusisto, Torsten Wik

A COMPUTATIONALLY EFFICIENT IMPLEMENTATION OF AN ELECTROCHEMISTRY-BASED MODEL FOR LITHIUM-ION BATTERIES* ...... 2169 L. Xia, E. Najafi, H. J. Bergveld, M. C. F. Donkers

ANALYTIC DERIVATION OF BATTERY SOC ESTIMATION ERROR UNDER SENSOR NOISES...... 2175 Xinfan Lin

OPTIMAL EVENT-DRIVEN MULTI-AGENT PERSISTENT MONITORING WITH GRAPH-LIMITED MOBILITY* ...... 2181 Nan Zhou, Christos G. Cassandras, Xi Yu, Sean B. Andersson

THE FEEDBACK CONTROL PROBLEM FOR SWITCHED SYSTEM WITH UNCERTAINTIES * ...... 2187 Kirill S. Mayantsev, Pavel A. Tochilin

OPTIMAL MULTI-PROCESS CONTROL OF A TWO VORTEX DRIVEN PARTICLE IN THE PLANE*...... 2193 Fernando Lobo Pereira, Teresa Grilo, Sílvio Gama

ROBUST LQR FOR TIME-INHOMOGENEOUS MARKOV JUMP SWITCHED LINEAR SYSTEMS*...... 2199 Yuriy Zacchia Lun, Alessandro D’Innocenzo, Maria Domenica Di Benedetto

A CLASS OF LINEAR QUADRATIC GAUSSIAN HYBRID OPTIMAL CONTROL PROBLEMS WITH REALIZATION–INDEPENDENT RICCATI EQUATIONS ...... 2205 Ali Pakniyat, Peter E. Caines

RACCORDATION BETWEEN PERIODIC SIGNALS.* ...... 2211 Vishal Murali, Erik I Verriest

MONOCULAR VISUAL INERTIAL NAVIGATION FOR MOBILE ROBOTS USING UNCERTAINTY BASED TRIANGULATION ...... 2217 Sejong Heo, Jaehyuck Cha, Chan Gook Park

SENSOR LOCALIZATION FOR VISUAL SERVOING STABILITY, APPLICATION TO CORRIDOR FOLLOWING...... 2223 Hela Ben-Said, Joanny Stéphant, Ouiddad Labbani-Igbida

GUARANTEEING FIELD OF VIEW CONSTRAINTS IN VISUAL SERVOING TASKS UNDER UNCERTAIN DYNAMICS ...... 2229 Pavlos D. Triantafyllou, George A. Rovithakis, Zoe Doulgeri

ACCURATE FORCE CONTROL AND CO-MANIPULATION CONTROL USING HYBRID EXTERNAL COMMAND...... 2235 S. Devie, P. Ph. Robet, Y. Aoustin, M. Gautier, A. Jubien, B. Furet

DYNAMIC MODELING AND TRAJECTORY TRACKING CONTROLLER OF A NOVEL FLYING PARALLEL ROBOT...... 2241 Damien Six, Abdelhamid Chriette, Sébastien Briot, Philippe Martinet

FIRST-ORDER SYNERGIES FOR MOTION PLANNING OF ANTHROPOMORPHIC DUAL-ARM ROBOTS...... 2247 Néstor García, Raúl Suárez, Jan Rosell

SOME NEW IDEAS FOR ASSEMBLY LINE BALANCING RESEARCH...... 2255 Alexandre Dolgui, Evgeny Gafarov

ELEMENTS OF THE MODEL IDENTIFICATION...... 2260 Oleg Yu. Kopysov

BIO-INSPIRED ROUTING CONTROL IN A “SMART-CROSS-DOCK”: SIMULATION APPROACH ...... 2266 Samir Tetouani, Abdessamad Chouar, Aziz Soulhi, Jamila El Alami

IDENTIFICATION BASED CONTROL FOR WIND TURBINE...... 2272 Albert G. Alexandrov, Vladimir N. Chestnov, Vadim A. Alexandrov

FREIGHT TRANSPORTATION RESILIENCE ENABLED BY PHYSICAL INTERNET...... 2278 Yanyan Yang, Shenle Pan, Eric Ballot

THE CUTTER TRAJECTORY AVOIDING INTERSECTIONS OF CUTS ...... 2284 Tatiana A. Makarovskikh, Anatoly V. Panyukov

A SWITCHING LOS GUIDANCE WITH RELATIVE KINEMATICS FOR PATH-FOLLOWING OF UNDERACTUATED UNDERWATER VEHICLES...... 2290 Bilal Abdurahman, A. Savvaris, A. Tsourdos

PARALLEL CONTROL FOR HYBRID PROPULSION OF MULTIFUNCTION SHIPS* ...... 2296 R. D. Geertsma, R. R. Negenborn, K. Visser, J. J. Hopman

IMPACT OF ARM MORPHOLOGY ON THE HYDRODYNAMIC BEHAVIOR OF A TWO-ARM ROBOTIC MARINE VEHICLE*...... 2304 Asimina Kazakidi, Dimitris P. Tsakiris, John A. Ekaterinaris

RANGE-ONLY POSITION ESTIMATION WITH DELAY CORRECTION VIA LAGRANGE-BÜRMAN INVERSION.* ...... 2310 Erik I. Verriest, Bernhard Lampe

DESCRIPTION AND MATCHING OF ACOUSTIC IMAGES USING A FORWARD LOOKING SONAR: A TOPOLOGICAL APPROACH...... 2317 Matheus Machado, Guilherme Zaffari, Pedro Otávio Ribeiro, Paulo Drews-Jr, Silvia Botelho

POWERING PERFORMANCE ANALYSIS OF FULL-SCALE SHIPS UNDER ENVIRONMENTAL DISTURBANCES...... 2323 Byunghyun Yoo, Jinwhan Kim

RECOVERY MOTION LEARNING FOR ARM MOUNTED MOBILE CRAWLER ROBOT IN DRIVE SYSTEM’S FAILURE*...... 2329 Tasuku Ito, Hitoshi Kono, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

WAVELET NEURAL NETWORK PID CONTROLLER FOR A UAS TRANSPORTING A CABLE- SUSPENDED LOAD...... 2335 Ricardo A. Barrón-Gómez, Luis E. Ramos-Velasco, Eduardo S. Espinoza Quesada, Luis R. García Carrillo

PARAMETER TUNING FOR PREDICTION-BASED QUADCOPTER TRAJECTORY PLANNING USING LEARNING AUTOMATA...... 2341 Peter T. Jardine, Sidney Givigi, Shahram Yousefi

COOPERATIVE REACTIVE PERSISTENT SURVEILLANCE ALGORITHM USING MULTIPLE UAVS CONSIDERING INCIDENT ARRIVALS ...... 2347 Suwon Lee, Youdan Kim

CAR-FOLLOWING BEHAVIOR MODEL LEARNING USING TIMED AUTOMATA...... 2353 Yihuan Zhang, Qin Lin, Jun Wang, Sicco Verwer

AN ADAPTIVE CRUISE CONTROL FOR CONNECTED ENERGY-SAVING ELECTRIC VEHICLES ...... 2359 Lorenzo Bertoni, Jacopo Guanetti, Maria Basso, Marco Masoero, Sabri Cetinkunt, Francesco Borrelli

EXPERIMENTS IN SECOND ORDER SLIDING MODE CONTROL OF A CPG BASED SPHERICAL ROBOT*...... 2365 Abhra Roy Chowdhury, G. S. Soh, S. H. Foong, K. L. Wood

LAB SCALE BOILER SETUP FOR PROCESS CONTROL RESEARCH AND EDUCATION ...... 2373 P. U. Sunil, Khushali Desai, Jayesh Barve, P. S. V. Nataraj

BALL IN DOUBLE HOOP: DEMONSTRATION MODEL FOR NUMERICAL OPTIMAL CONTROL * ...... 2379 Martin Gurtner, Jirí Zemánek

AFM NANŒYE – DEVELOPMENT OF AN EDUCATION ORIENTED HIGH RESOLUTION PROFILOMETER ...... 2385 Ioan Alexandru Ivan, Claudie Petit, Ion Valentin Gurgu, Rosario Toscano

GEOMETRIC PATTERN FORMATION ON A PLANE UNDER A GENERAL GRAPH TOPOLOGY ...... 2391 Jerome Moses, Arpita Sinha, David Boland

CONTROL SYNTHESIS FOR MULTI-AGENT SYSTEMS UNDER METRIC INTERVAL TEMPORAL LOGIC SPECIFICATIONS*...... 2397 Sofie Andersson, Alexandros Nikou, Dimos V. Dimarogonas

DISTRIBUTED MULTI-OBJECTIVE OPTIMIZATION OVER RANDOMLY VARYING UNBALANCED NETWORKS*...... 2403 Takayuki Wada, Izumi Masubuchi, Kenta Hanada, Toru Asai, Yasumasa Fujisaki

MEAN-FIELD ANALYSIS OF THE CONVERGENCE TIME OF MESSAGE-PASSING COMPUTATION OF HARMONIC INFLUENCE IN SOCIAL NETWORKS ...... 2409 W. S. Rossi, P. Frasca

ROBUST OUTPUT SYNCHRONIZATION OF LOWER TRIANGULAR MULTI-AGENTS VIA SAMPLED- DATA CONTROL*...... 2415 Xi Chen, Lijun Zhu, Li Chai, Hai-Tao Zhang

CONSENSUS CONTROL OF SECOND-ORDER STOCHASTIC DELAYED MULTI-AGENT SYSTEMS WITH INTRINSIC DYNAMICS AND UNDIRECTED TOPOLOGIES*...... 2421 Xiaofeng Zong, Tao Li, Ji-Feng Zhang

ROBUST AVERAGE FORMATION TRACKING FOR MULTI-AGENT SYSTEMS WITH MULTIPLE LEADERS* ...... 2427 Tao Jin, Zhi-Wei Liu, Hong Zhou, Zhi-Hong Guan, Yuzhen Qin, Yonghong Wu

CLUSTER SYNCHRONIZATION IN NETWORKS OF KURAMOTO OSCILLATORS...... 2433 Chiara Favaretto, Angelo Cenedese, Fabio Pasqualetti

CONSENSUS-BASED FORMATION CONTROL OF NONHOLONOMIC ROBOTS USING A STRICT LYAPUNOV FUNCTION...... 2439 Mohamed Maghenem, Abraham Bautista-Castillo, Emmanuel Nuño, Antonio Loría, Elena Panteley

DISTRIBUTED BEHAVIORAL CONTROL FOR SECOND-ORDER NONLINEAR MULTI-AGENT SYSTEMS ...... 2445 Jie Huang, Ming Cao, Ning Zhou, Qingkai Yang, Xiaoshan Bai

BALANCED TRUNCATION APPROACH TO LINEAR NETWORK SYSTEM MODEL ORDER REDUCTION...... 2451 Xiaodong Cheng, Jacquelien M. A. Scherpen

RANDOM SET APPROACH TO DISTRIBUTED MULTIVEHICLE SLAM...... 2457 G. Battistelli, L. Chisci, A. Laurenzi

LOW-RANK DISTRIBUTED CONSENSUS CONTROLLER DESIGN FOR LINEAR MULTI-AGENT SYSTEMS UNDER RANDOMLY SWITCHING DIRECTED TOPOLOGIES AND MODEL UNCERTAINTIES...... 2465 Dinh Hoa Nguyen, Tatsuo Narikiyo, Michihiro Kawanishi

COVERAGE CONTROL OF UNICYCLE AGENTS UNDER CONSTANT SPEED CONSTRAINTS *...... 2471 Qingchen Liu, Mengbin Ye, Zhiyong Sun, Jiahu Qin, Changbin Yu

ADAPTIVE CONTROL FOR MULTI-AGENT SYSTEMS WITH VANISHING COUPLING GAINS *...... 2477 Bo Wei, Feng Xiao, Ming-Zhe Dai

CONSENSUS CONTROL OF HIGH-ORDER MULTI-AGENT SYSTEMS WITH ANTAGONISTIC INTERACTIONS AND MEASUREMENT NOISES* ...... 2482 Jiangping Hu, Yanzhi Wu, Yiyi Zhao

DATA AGGREGATION BASED ESTIMATION FOR SENSOR NETWORK WITH COMMUNICATION DELAY* ...... 2488 Ryosuke Adachi, Yuh Yamashita, Koichi Kobayashi

DISTRIBUTED CONSENSUS-BASED KALMAN FILTERING CONSIDERING SUBSPACE DECOMPOSITION ...... 2494 A. R. Del Nozal, L. Orihuela, P. Milláan

AGGREGATE STATE CONTROL OF LARGE-SCALE SYSTEMS VIA NETWORKED CONTROLLERS* ...... 2500 Kazunori Sakurama

CONSENSUS FOR LINEAR AGENTS WITH UNKNOWN PARAMETERS...... 2505 P. Rapisarda, H. Sira-Ramírez, R. Savva

VEHICULAR PLATOONS IN CYCLIC INTERCONNECTIONS WITH CONSTANT INTER-VEHICLE SPACING ...... 2511 Sonja Stüdli, María M. Seron, Richard H. Middleton

CONTROLLABLE GRAPHS WITH SMALL SUMS OF DIAMETERS AND MAXIMUM VERTEX DEGREES...... 2517 Shun-Pin Hsu

FURTHER IMPROVEMENT OF FIXED-TIME PROTOCOL FOR AVERAGE CONSENSUS OF MULTI- AGENT SYSTEMS* ...... 2523 Junkang Ni, Ling Liu, Chongxin Liu, Xiaoyu Hu, Shilei Li

INFORMATION STRUCTURE DESIGN IN TEAM DECISION PROBLEMS...... 2530 Tyler Summers, Changyuan Li, Maryam Kamgarpour

SAFE LEARNING FOR DISTRIBUTED SYSTEMS WITH BOUNDED UNCERTAINTIES*...... 2536 Rie B. Larsen, Andrea Carron, Melanie N. Zeilinger

EXPONENTIAL LEAST SQUARES SOLVERS FOR LINEAR EQUATIONS OVER NETWORKS...... 2543 Yang Liu, Christian Lageman, Brian D. O. Anderson, Guodong Shi

A SUB-OPTIMAL METHOD FOR ROUTING REDUNDANCY DESIGN OVER LOSSY NETWORKS...... 2549 F. Smarra, M. D. Di Benedetto, A. D’Innocenzo

CONTROLLER DESIGN FOR NETWORKED CONTROL SYSTEMS AFFECTED BY CORRELATED PACKET LOSSES ...... 2555 Edwin G. W. Peters, Damian Marelli, Daniel E. Quevedo, Minyue Fu

ROBUST PERFORMANCE OF FEEDBACK LOOPS WITH QUANTIZATION AND APERIODIC SAMPLING*...... 2561 Mark A. Fabbro, Chung-Yao Kao, Michael Cantoni

SIGNAL-TO-NOISE RATIO REQUIREMENTS FOR DISCRETE-TIME PID CONTROLLERS* ...... 2567 A. J. Rojas, H. O. Garcés

STRUCTURE PRESERVING H-INFINITY OPTIMAL PI CONTROL ...... 2573 Anders Rantzer, Carolina Lidström, Richard Pates

QUANTIZED OUTPUT FEEDBACK STABILIZATION BY LUENBERGER OBSERVERS...... 2577 Masashi Wakaiki, Tadanao Zanma, Kang-Zhi Liu

EVENT-BASED ESTIMATION IN A FEEDBACK LOOP ANTICIPATING ON IMPERFECT COMMUNICATION ...... 2583 Joris Sijs, Ben Noack

APPLICATION OF DISTRIBUTED MODEL PREDICTIVE APPROACHES TO TEMPERATURE AND CO2 CONCENTRATION CONTROL IN BUILDINGS * ...... 2589 Shalika S. W. Walker, Warody Lombardi, Suzanne Lesecq, Samira Roshany-Yamchi

A GAME-THEORETIC APPROACH TO REMOTE STATE ESTIMATION IN PRESENCE OF A DOS ATTACKER...... 2595 Yuchi Wu, Yuzhe Li, Ling Shi

CYBER-ATTACK DETECTION WITH FAULT ACCOMMODATION BASED ON INTELLIGENT GENERALIZED PREDICTIVE CONTROL...... 2601 Amer Atta Yaseen, Mireille Bayart

A SECURE DATA ASSIMILATION FOR LARGE-SCALE SENSOR NETWORKS USING AN UNTRUSTED CLOUD...... 2609 Zhiheng Xu, Quanyan Zhu

MULTI-ROLE COVERAGE CONTROL FOR MULTI-COLOR MASS GAMES: A VORONOI-BASED CUT-IN APPROACH...... 2615 Tatsuya Miyano, Kazuki Shibata, Tomohiko Jimbo

BAYESIAN ONLINE LEARNING FOR INFORMATION-BASED MULTI-AGENT EXPLORATION WITH UNKNOWN RADIO SIGNAL DISTRIBUTION...... 2621 Jinhong Lim, J. Hyeon Park, H. Jin Kim

NETWORKED SYSTEMS UNDER DENIAL-OF-SERVICE: CO-LOCATED VS. REMOTE CONTROL ARCHITECTURES ...... 2627 Shuai Feng, Pietro Tesi

REDESIGN OF STABILIZING DISCRETE-TIME CONTROLLERS TO ACCOMMODATE INTERMITTENT SAMPLING *...... 2633 Maor Braksmayer, Leonid Mirkin

ONLINE-TRAJECTORY PLANNING FOR STATE- AND INPUT-CONSTRAINED LINEAR SISO SYSTEMS USING A SWITCHED STATE VARIABLE FILTER...... 2639 Steffen Joos, Matthias Bitzer, Roland Karrelmeyer, Knut Graichen

OPTIMAL DYNAMIC LYAPUNOV FUNCTION AND THE LARGEST ESTIMATION OF DOMAIN OF ATTRACTION ...... 2645 Morteza Nazari Monfared, Mohammad Javad Yazdanpanah

HIDDEN ATTRACTORS LOCALIZATION IN CHUA CIRCUIT VIA THE DESCRIBING FUNCTION METHOD ...... 2651 N. V. Kuznetsov, O. A. Kuznetsova, G. A. Leonov, T. N. Mokaev, N. V. Stankevich

GLOBAL DYNAMIC MAXIMUM TORQUE PER AMPERE CONTROL OF INTERIOR PERMANENT MAGNET SYNCHRONOUS MOTOR BY USING NONSMOOTH CONTROL LYAPUNOV FUNCTION...... 2657 Natsuki Hamano, Hisakazu Nakamura

PART 5

CONTRACTION BASED TRACKING CONTROL OF AUTONOMOUS UNDERWATER VEHICLE...... 2665 Majeed Mohamed, Rong Su

EQUIVALENT CIRCUITS FOR ELECTROCHEMICAL SUPERCAPACITOR MODELS * ...... 2671 Ross Drummond, Giogio Valmorbida, Stephen R. Duncan

ORBITAL FEEDBACK LINEARIZATION: APPLICATION TO SOLVING TERMINAL PROBLEMS FOR MULTI-INPUT CONTROL AFFINE SYSTEMS ...... 2677 Dmitry A. Fetisov

MONITORING FUNCTIONS APPLIED TO ADAPTIVE SLIDING MODE CONTROL FOR DISTURBANCE REJECTION...... 2684 Tiago Roux Oliveira, Gabriel Tavares Melo, Liu Hsu, José Paulo V. S. Cunha

SLIDING MODE CONTROL FOR TURBULENT FLOWS ...... 2690 Maxime Feingesicht, Andrey Polyakov, Franck Kerhervé, Jean-Pierre Richard

SLIDING MODE CONTROL OF TIME-DELAY SYSTEMS WITH DELAYED NONLINEAR UNCERTAINTIES...... 2696 Adrian E. Onyeka, Xing-Gang Yan, Jianqiu Mu

A SLIDING-MODE SCHEME FOR MONITORING MALICIOUS ATTACKS IN CYBER-PHYSICAL SYSTEMS...... 2702 M. L. Corradini, A. Cristofaro

OSCILLATORY GLOBAL OUTPUT SYNCHRONIZATION OF NONIDENTICAL NONLINEAR SYSTEMS*...... 2708 Hafiz Ahmed, Rosane Ushirobira, Denis Efimov, Leonid Fridman, Yongqiang Wang

A DISTRIBUTED PARAMETER APPROACH FOR SLIDING MODE CONTROL OF SOIL IRRIGATION* ...... 2714 Nataly Ines Challapa Molina, José Paulo V. S. Cunha

ROBUST ALTITUDE AND ATTITUDE SLIDING MODE CONTROLLERS FOR QUADROTORS...... 2720 Boussad Abci, Gang Zheng, Denis Efimov, Maan El Badaoui El Najjar

THREE DIMENSIONAL GUIDANCE AGAINST HELIX MANEUVER WITH UNKNOWN TURNING RATE...... 2726 Liat Peled-Eitan, Ilan Rusnak

CONTROL-ORIENTED DENOISING AUTOENCODER: ROBUSTIFIED DATA-DRIVEN MODEL REDUCTION...... 2732 Y. Nagasawa, K. Kashima

INTRUSIVE GALERKIN PROJECTION FOR MODEL ORDER REDUCTION OF UNCERTAIN LINEAR DYNAMIC SYSTEMS...... 2738 L. Nechak, H-F. Raynaud, C. Kulcsár

UNDERMODELLING DETECTION WITH SIGN-PERTURBED SUMS* ...... 2744 Algo Carè, Marco C. Campi, Balázs Cs. Csáji, Erik Weyer

A TWO-STEP PARALLEL PHASE PARTITION ALGORITHM FOR MONITORING MULTIPHASE BATCH PROCESSES WITH LIMITED BATCHES ...... 2750 Wanke Yu, Chunhui Zhao, Shumei Zhang

H∞ DYNAMIC OBSERVER DESIGN FOR LINEAR DISCRETE-TIME SYSTEMS*...... 2756 Nao Gao, Mohamed Darouach, Marouane Alma

ROBUST PRINCIPAL COMPONENT ANALYSIS: AN IRLS APPROACH *...... 2762 Boris T. Polyak, Mikhail V. Khlebnikov

A ROBUST FEEDBACK CONTROL DESIGN FOR BROADBAND NOISE ATTENUATION IN A CAR CABIN ...... 2768 Paul Loiseau, Philippe Chevrel, Mohamed Yagoubi, Jean-Marc Duffal

NONLINEAR PARAMETER ESTIMATION USING POLYNOMIALS AND RESULTANTS – APPLICATION TO ELECTRICAL DRIVES...... 2776 A. Cristofaro, C. Possieri

ROBUST OBSERVER DESIGN UNDER MEASUREMENT NOISE...... 2782 S. Battilotti

ON FULLY DISTRIBUTED DUAL FIRST ORDER METHODS FOR CONVEX NETWORK OPTIMIZATION ...... 2788 Ion Necoara, Valentin Nedelcu, Dragos Clipici, Lucian Toma

INTERVAL OBSERVERS FOR LPV SYSTEMS AND APPLICATION TO THE GUARANTEED STATE ESTIMATION OF AN INDUCTION MACHINE ...... 2794 Stefan Krebs, Thomas Gellrich, Sören Hohmann

ECHO STATE VERSUS WAVELET NEURAL NETWORKS: COMPARISON AND APPLICATION TO NONLINEAR SYSTEM IDENTIFICATION...... 2800 Hamid Khodabandehlou, Mohammad Sami Fadali

LTI STOCHASTIC PROCESSES: A BEHAVIORAL PERSPECTIVE* ...... 2806 Giacomo Baggio, Rodolphe Sepulchre

ADAPTIVE BAYESIAN SENSOR MOTION PLANNING FOR HAZARDOUS SOURCE TERM RECONSTRUCTION...... 2812 Michael Hutchinson, Hyondong Oh, Wen-Hua Chen

TUNING OF HYPERPARAMETERS FOR FIR MODELS – AN ASYMPTOTIC THEORY ...... 2818 Biqiang Mu, Tianshi Chen, Lennart Ljung

ON MAXIMUM LIKELIHOOD IDENTIFICATION OF ERRORS-IN-VARIABLES MODELS...... 2824 Giulio Bottegal, Riccardo S. Risuleo, Mohsen Zamani, Brett Ninness, Håkan Hjalmarsson

PROBLEM-ORIENTED APPROACH TO IDENTIFICATION OF SENSOR ERROR MODELS AND ITS APPLICATION TO NAVIGATION DATA PROCESSING...... 2830 O. A. Stepanov, A. V. Motorin

A WAVELET-BASED PARITY SPACE APPROACH TO FAULT DETECTION OF LINEAR DISCRETE TIME-VARYING SYSTEMS* ...... 2836 Maiying Zhong, Ting Xue, Steven X. Ding, Donghua Zhou, Hao Ye, Ningfang Song

GRAPH MATCHING AS A MEANS TO ENERGY-VISUALISATION OF A COUNTER-FLOW HEAT EXCHANGER FOR THE PURPOSE OF FAULT DIAGNOSIS ...... 2842 S. Van Graan, G. Van Schoor, K. R. Uren

THE EFFECT OF THE SAMPLING PERIOD ON STICTION DETECTION METHODS ...... 2848 Jônathan W. V. Dambros, Marcelo Farenzena, Jorge O. Trierweiler

TUBE-BASED ROBUST FAULT ESTIMATION INTEGRATING UNKNOWN INPUTS DECOUPLING AND SET-MEMBERSHIP APPROACH ...... 2854 Junbo Tan, Feng Xu, Jun Yang, Yilin Mi, Xueqian Wang, Bin Liang

FAULT DETECTION IN AIRLINER ELECTRO-MECHANICAL ACTUATORS VIA HYBRID PARTICLE FILTERING...... 2860 M. Mazzoleni, G. Maroni, Y. Maccarana, S. Formentin, F. Previdi

COMPUTATION OF ALARM RELEVANT PROBABILITIES USING GEOMETRIC RANDOM VARIABLE MODELING...... 2866 Nishanth Mundru, Ramkrishna Ghosh, Mani Bhushan

OPTIMAL CONTROL OF BILINEAR SYSTEMS IN A COMPLEX SPACE SETTING...... 2872 M. S. Aronna, J. F. Bonnans, A. Kröner

HYBRID MPC FOR GASOLINE ENGINE AIR-FUEL RATIO CONTROL USING OPTIMAL PWA APPROXIMATION...... 2878 Marek Honek, Martin Gulan, Cristina Vlad, Boris Rohal-Ilkiv

A DYNAMIC PROGRAMMING APPROACH FOR L0 OPTIMAL CONTROL DESIGN ...... 2886 Z. Rao

PERIODIC AVERAGING WITH A SECOND ORDER INTEGRAL ERROR* ...... 2892 Thierry Dargent, Florentina Nicolau, Jean-Baptiste Pomet

A BOLTZMANN APPROACH TO MEAN-FIELD SPARSE FEEDBACK CONTROL*...... 2898 Giacomo Albi, Massimo Fornasier, Dante Kalise

PAYLOAD OPTIMIZATION FOR MULTI-STAGE LAUNCHERS USING HJB APPROACH AND APPLICATION TO A SSO MISSION* ...... 2904 Olivier Bokanowski, Eric Bourgeois, Anna Désilles, Hasnaa Zidani

OBSERVER DESIGN FOR A LARGE CLASS OF NON-UNIFORMLY OBSERVABLE MIMO SYSTEMS WITH UNCERTAINTIES ...... 2911 Tomas Ménard, M. Farza, A. Ltaief, I. Bouraoui, M. M'Saad, T. Maatoug

UNKNOWN INPUT DECOUPLING AND ESTIMATION IN OBSERVER DESIGN FOR BOOLEAN CONTROL NETWORKS* ...... 2917 Zhihua Zhang, Thomas Leifeld, Ping Zhang

DESIGN OF AN H∞ ADAPTIVE OBSERVER FOR BILINEAR DELAYED SYSTEMS...... 2923 Ahlem Sassi, Michel Zasadzinski, Harouna Souley Ali, Kamel Abderrahim

QUALITATIVE PARAMETER ESTIMATION FOR A CLASS OF RELAXATION OSCILLATORS*...... 2929 Ying Tang, Alessio Franci, Romain Postoyan

NON-PARAMETRIC METHOD FOR FAULT ISOLATION IN NONLINEAR DYNAMIC SYSTEMS *...... 2935 Alexey Zhirabok, Alexey Shumsky

OBSERVER ANALYSIS AND SYNTHESIS FOR LIPSCHITZ NONLINEAR SYSTEMS UNDER DISCRETE TIME-VARYING MEASUREMENTS ...... 2941 Etienne Lucien, Hetel Laurentiu, Efimov Denis, Petreczky Mihaly

SCALAR LINEAR COMPLEMENTARITY SYSTEMS DO NOT EXHIBIT ZENO BEHAVIOR...... 2947 M. K. Camlibel, J.-S. Pang, J. M. Schumacher, J. Shen

OBSERVER DESIGN FOR DETECTABLE SWITCHED DIFFERENTIAL-ALGEBRAIC EQUATIONS...... 2953 Aneel Tanwani, Stephan Trenn

OBSERVER DESIGN FOR PIECEWISE SMOOTH AND SWITCHED SYSTEMS VIA CONTRACTION THEORY*...... 2959 Davide Fiore, Marco Coraggio, Mario Di Bernardo

SET-POINT CONTROL OF MOTION SYSTEMS WITH UNCERTAIN SET-VALUED STRIBECK FRICTION* ...... 2965 Ruud Beerens, Henk Nijmeijer, Maurice Heemels, Nathan Van De Wouw

A SET-VALUED NESTED SLIDING-MODE CONTROLLER...... 2971 Félix A. Miranda-Villatoro, Fernando Castaños, Bernard Brogliato

PRELIMENARY RESULTS ON THE OPTIMAL CONTROL OF LINEAR COMPLEMENTARITY SYSTEMS ...... 2977 Alexandre Vieira, Bernard Brogliato, Christophe Prieur

A GENERALISATION OF LINE-INTEGRAL LYAPUNOV FUNCTION FOR TAKAGI-SUGENO SYSTEMS* ...... 2983 Temoatzin Gonzalez, Antonio Sala, Miguel Bernal, Ruben Robles

STABILITY ANALYSIS OF NONLINEAR NETWORKED CONTROL SYSTEMS VIA TAKAGI-SUGENO FUZZY MODEL ...... 2989 Jun Yoneyama

ADAPTIVE FUZZY CONTROL FOR A CLASS OF MULTIVARIABLE NONLINEAR SYSTEMS WITH UNKNOWN CONTROL DIRECTION...... 2995 Salim Labiod, Thierry Marie Guerra

A COMPARISON OF DIFFERENT UPPER-BOUND INEQUALITIES FOR THE MEMBERSHIP FUNCTIONS DERIVATIVE...... 3001 Víctor Costa Da Silva Campos, Anh-Tu Nguyen, Reinaldo Martinez Palhares

INDIRECT ADAPTIVE INTERVAL TYPE-2 FUZZY SLIDING MODE CONTROLLER DESIGN FOR FLEXIBLE AIR-BREATHING HYPERSONIC VEHICLES...... 3007 Junlong Gao, Ruyi Yuan, Jianqiang Yi, Chengdong Li

HIERARCHICAL AND ADAPTIVE NEURO-FUZZY CONTROL FOR INTELLIGENT ENERGY MANAGEMENT IN HYBRID ELECTRIC VEHICLES* ...... 3014 Elkhatib Kamal, Lounis Adouane, Rustem Abdrakhmanov, Nadir Ouddah

FROM DIAGNOSABILITY TO OPACITY: A BRIEF HISTORY OF DIAGNOSABILITY OR LACK THEREOF*...... 3022 Stephane Lafortune, Feng Lin

PERTURBATION ANALYSIS: A FRAMEWORK FOR DATA-DRIVEN CONTROL AND OPTIMIZATION OF DISCRETE EVENT AND HYBRID SYSTEMS ...... 3028 Y. Wardi, C. G. Cassandras, X. R. Cao

FROM DISCRETE EVENT SIMULATION TO DISCRETE EVENT SPECIFIED SYSTEMS (DEVS)...... 3039 Bernard P. Zeigler, Alexander Muzy

MODEL MATCHING BY DYNAMIC STATE FEEDBACK...... 3045 Vladimír Kucera

EXPLICIT INPUT SIGNAL DESIGN FOR STABLE LINEAR ENSEMBLE SYSTEMS*...... 3051 Lin Tie, Wei Zhang, Shen Zeng, Jr-Shin Li

REACHABILITY AND INVARIANCE FOR LINEAR SAMPLED–DATA SYSTEMS ...... 3057 S. V. Rakovic, F. A. C. C. Fontes, I. V. Kolmanovsky

EXPERIMENTAL EVALUATION OF AUTOMATIC TUNING OF PID CONTROLLERS FOR AN ELECTRO- MECHANICAL SYSTEM ...... 3063 Liuping Wang, Chris Freeman, Eric Rogers

TRANSIENT OPTIMIZATION IN OUTPUT REGULATION VIA FEEDFORWARD SELECTION AND REGULATOR STATE INITIALIZATION...... 3069 Daniele Carnevale, Sergio Galeani, Mario Sassano

A DEAD TIME COMPENSATOR BASED ON LINEAR ALGEBRA (DTCLA) ...... 3075 Oscar Camacho, Gustavo Scaglia, O. Lucia Quintero

H2 STATE FEEDBACK CONTROL DESIGN OF POSITIVE SWITCHED LINEAR SYSTEMS*...... 3081 Grace S. Deaecto, José C. Geromel

A UNIFIED FRAMEWORK FOR ASYNCHRONOUS CONTROL OF POSITIVE SWITCHED SYSTEMS * ...... 3087 Junfeng Zhang, Ridong Zhang, Shizhou Fu, Yun Chen, Jiuwen Cao

STABILITY ANALYSIS OF NEUTRAL TYPE TIME-DELAY POSITIVE SYSTEMS WITH COMMENSURATE DELAYS ...... 3093 Yoshio Ebihara

INTERNALLY POSITIVE REPRESENTATIONS AND STABILITY ANALYSIS OF LINEAR DIFFERENCE SYSTEMS WITH MULTIPLE DELAYS ...... 3099 Vittorio De Iuliis, Alfredo Germani, Costanzo Manes

PERSISTENCE ANALYSIS OF DISCRETE-TIME INTERCONNECTED POSITIVE SYSTEMS AND ITS APPLICATION TO MOBILE ROBOT FORMATION ...... 3105 Shoya Tanabe, Hiroyuki Ichihara, Yoshio Ebihara, Dimitri Peaucelle

DIFFERENTIAL PRIVACY AND THE L1 SENSITIVITY OF POSITIVE LINEAR OBSERVERS*...... 3111 Aisling McGlinchey, Oliver Mason

MODELING AND ITERATIVE LEARNING CONTROL OF A CIRCULAR DEFORMABLE MIRROR * ...... 3117 Blazej Cichy, Petr Augusta, Krzysztof Galkowski, Andreas Rauh, Harald Aschemann, Eric Rogers, Branislav Rehák

HIGHER-ORDER ITERATIVE LEARNING CONTROL LAW DESIGN USING LINEAR REPETITIVE PROCESS THEORY: CONVERGENCE AND ROBUSTNESS...... 3123 Xuan Wang, Bing Chu, Eric Rogers

DISTURBANCE COMPENSATION ALGORITHM UNDER SATURATION OF CONTROL SIGNAL *...... 3129 Igor B. Furtat

CONSTRAINED ITERATIVE LEARNING CONTROL WITH PSO-YOULA FEEDBACK TUNING FOR BUILDING TEMPERATURE CONTROL* ...... 3135 Cheng Peng, Liting Sun, Masayoshi Tomizuka

LEARNING MODEL PREDICTIVE CONTROL FOR ITERATIVE TASKS: A COMPUTATIONALLY EFFICIENT APPROACH FOR LINEAR SYSTEM...... 3142 Ugo Rosolia, Francesco Borrelli

A GENERALIZED FRAMEWORK FOR PERTURBATION-BASED DERIVATIVE ESTIMATION IN MULTIVARIABLE EXTREMUM-SEEKING ...... 3148 Robert Van Der Weijst, Thijs Van Keulen, Frank Willems

OPTIMAL RESOURCE ALLOCATION FOR BIOTROPHIC PLANT PATHOGENS* ...... 3154 Ivan Yegorov, Frédéric Grognard, Ludovic Mailleret, Fabien Halkett

MODEL PREDICTIVE CONTROL OF SALINITY IN A POLDER DITCH UNDER HIGH SALINE GROUNDWATER EXFILTRATION CONDITIONS: A TEST CASE...... 3160 Boran Ekin Aydin, Martine Rutten, Edo Abraham, Gualbert H. P. Oude Essink, Joost Delsman

CONCENTRATION REDUCTION APPORTIONMENT (CRA) APPROACH: A NEW METHODOLOGY TO DEFINE EFFECTIVE AIR QUALITY PLANS ...... 3165 C. Carnevale, G. Finzi, A. Pederzoli, E. Turrini, M. Volta

A FLOOD DECREASE STRATEGY BASED ON FLOW NETWORK COUPLED WITH A HYDRAULIC SIMULATION SOFTWARE 1...... 3171 Ghita Bencheikh, Ayoub Tahiri, Pascale Chiron, Bernard Archimede, Francis Martignac

SUSTAINABLE MANAGEMENT OF NATURAL RESOURCE USING BIPOLAR ANALYSIS. APPLICATION TO WATER RESOURCE SHARING...... 3177 Ayeley P. Tchangani

SCENARIO-BASED FITTED Q-ITERATION FOR ADAPTIVE CONTROL OF WATER RESERVOIR SYSTEMS UNDER UNCERTAINTY ...... 3183 Federica Bertoni, Matteo Giuliani, Andrea Castelletti

LEAST SQUARES ESTIMATION AND FUZZY LOGIC BASED CONDITION MONITORING FOR HIGH REDUNDANCY ACTUATOR ...... 3189 Hasmawati Antong, Roger Dixon, Christopher P. Ward

NONLINEAR ESTIMATOR DESIGN FOR MEMS GYROSCOPE WITH TIME-VARYING ANGULAR RATE ...... 3195 Ladislav Krái, Ondrej Straka

A NEGATIVE IMAGINARY THEORY-BASED CONTROLLER SYNTHESIS FOR VIBRATION CONTROL OF A PIEZOELECTRIC TUBE SCANNER...... 3202 K. Th. Nguyen, H. Habibullah, H. R. Pota, H. T. Hattori, I. R. Petersen

MODEL-BASED SIGNAL PROCESSING FOR THE FORCE CONTROL OF BIAXIAL GANTRY ROBOTS*...... 3208 Stefan Flixeder, Tobias Glück, Martin Böck, Andreas Kugi

ON POSITION REGULATION OF TORQUE-DRIVEN MECHANISMS WITHIN TORQUE AND SPEED PRESCRIBED SAFE BOUNDEDNESS: A CASE STUDY*...... 3215 Rafael Kelly, Adriana Salinas, Javier Moreno-Valenzuela

A SELF-DESIGNED LASER SCANNING DIFFERENTIAL CONFOCAL MICROSCOPY WITH A NOVEL VERTICAL SCAN ALGORITHM FOR FAST IMAGE SCANNING ...... 3221 Wei-Chih Liu, Meng-Hao Chou, Kuang-Yao Chang, Da-Wei Liu, Jim-Wei Wu, Li-Chen Fu

CASCADED PI CONTROLLER TUNING FOR POWER PLANT SUPERHEATED STEAM TEMPERATURE BASED ON MULTI-OBJECTIVE OPTIMIZATION ...... 3227 H. Fu, L. Pan, Y. L. Xue, L. Sun, D. H. Li, K. Y. Lee, Z. L. Wu, T. He, S. Zheng

MODEL-BASED ROBUST ADAPTIVE CONTROL FOR POWER-GENERATING SYSTEMS IN THE PRESENCE OF LONG TIME DELAY ...... 3232 Lei Pan, Jiong Shen, Xiao Wu, Li Sun, Kwang Y. Lee, Haitao Wang

MODELLING AND SIMULATION OF MICROSCALE TRIGENERATION SYSTEMS BASED ON REAL- LIFE EXPERIMENTAL DATA...... 3238 Parantapa Sawant, Dang Doan

OPERATION AND BIDDING STRATEGIES OF POWER PLANTS WITH CARBON CAPTURE ...... 3244 Ziang Li, Zhengtao Ding, Meihong Wang

NONLINEAR CONTROL OF A FULLY-FED VARIABLE SPEED PUMPED STORAGE PLANT ...... 3250 Janailson R. Lima, Gilney Damm, Abdelkrim Benchaib, Emilia Nobile, Alexander Schwery

MULTI-OBJECTIVE H2/H∞ GAIN-SCHEDULED NUCLEAR CORE CONTROL DESIGN...... 3256 L. Lemazurier, M. Yagoubi, P. Chevrel, A. Grossetête

DEMAND MODEL IN WATER DISTRIBUTION NETWORKS FOR FAULT DETECTION* ...... 3263 Marcos Quiñones-Grueiro, Cristina Verde, Orestes Llanes-Santiago

INVESTIGATING THE IMPACT OF PERTURBATIONS IN CHEMICAL PROCESSES ON DATA-BASED CAUSALITY ANALYSIS. PART 1: DEFINING DESIRED PERFORMANCE OF CAUSALITY ANALYSIS TECHNIQUES* ...... 3269 Brian Lindner, Lidia Auret, Margret Bauer

INVESTIGATING THE IMPACT OF PERTURBATIONS IN CHEMICAL PROCESSES ON DATA-BASED CAUSALITY ANALYSIS. PART 2: TESTING GRANGER CAUSALITY AND TRANSFER ENTROPY* ...... 3275 Brian Lindner, Lidia Auret, Margret Bauer

BACKLASH ESTIMATION FOR INDUSTRIAL DRIVE-TRAIN SYSTEMS ...... 3281 Dimitrios Papageorgiou, Mogens Blanke, Hans Henrik Niemann, Jan H. Richter

A TOOLBOX FOR ANALYSIS AND DESIGN OF MODEL BASED DIAGNOSIS SYSTEMS FOR LARGE SCALE MODELS ...... 3287 Erik Frisk, Mattias Krysander, Daniel Jung

FAULT DIAGNOSIS OF PNEUMATIC SYSTEMS: APPLICATION OF A SYSTEMATIC MODEL-BASED METHODOLOGY...... 3294 Brian M. Rahman, Greg T. Busch, Qadeer Ahmed, Giorgio Rizzoni

PARALLEL EXPLICIT MPC FOR HARDWARE WITH LIMITED MEMORY...... 3301 Juraj Oravec, Yuning Jiang, Boris Houska, Michal Kvasnica

POWER COORDINATION IN VARIABLE SPEED DRIVES USING MODEL PREDICTIVE CONTROL ...... 3307 Felix Rey, Peter Hokayem, John Lygeros

ADAPTIVE MODEL PREDICTIVE CONTROL WITH ROBUST CONSTRAINT SATISFACTION...... 3313 Matthias Lorenzen, Frank Allgöwer, Mark Cannon

A DISCONTINUOUS ADAPTIVE SLIDING-MODE OBSERVER FOR A CLASS OF UNCERTAIN NONLINEAR SYSTEMS *...... 3319 H. Ríos, D. Efimov, W. Perruquetti

NONLINEAR MODEL OF THE OPTICAL COSTAS LOOP: PULL-IN RANGE ESTIMATION AND HIDDEN OSCILLATIONS...... 3325 N. V. Kuznetsov, G. A. Leonov, S. M. Seledzhi, M. V. Yuldashev, R. V. Yuldashev

ONLINE ADAPTION OF MOTION PATHS TO TIME-VARYING CONSTRAINTS USING HOMOTOPIES ...... 3331 Damian Kontny, Olaf Stursberg

PART 6

SYNCHRONIZED CELL-BALANCING CHARGING OF SUPERCAPACITORS ...... 3338 Heng Li, Jun Peng, Jianping He, Zhiwu Huang, Jianping Pan

COST-OPTIMAL MODEL PREDICTIVE SCHEDULING OF HOME APPLIANCES*...... 3344 Roland Bálint, Attila Magyar, Katalin M. Hangos

A ROBUST OPTIMIZATION FOR DAY-AHEAD MICROGRID DISPATCH CONSIDERING UNCERTAINTIES...... 3350 Nuno Borges, João Soares, Zita Vale

MULTI-OBJECTIVE PARTICLE SWARM OPTIMIZATION TO SOLVE ENERGY SCHEDULING WITH VEHICLE-TO-GRID IN OFFICE BUILDINGS CONSIDERING UNCERTAINTIES...... 3356 Nuno Borges, João Soares, Zita Vale

SCALABLE COMPUTATIONAL FRAMEWORK USING INTELLIGENT OPTIMIZATION: MICROGRIDS DISPATCH AND ELECTRICITY MARKET JOINT SIMULATION ...... 3362 João Soares, Tiago Pinto, Filipe Sousa, Nuno Borges, Zita Vale, Andrea Michiorri

A CASCADED IMPROVED HARMONY SEARCH FOR LINE IMPEDANCE ESTIMATION IN A RADIAL POWER SYSTEM...... 3368 Jaeyoung Park, Soonyoung Kwon, Minho Kim, Soohee Han

MODEL IDENTIFICATION AND CONTROL FOR A QUARTER CAR TEST RIG OF SERIES ACTIVE VARIABLE GEOMETRY SUSPENSION...... 3376 Min Yu, Simos A. Evangelou, Daniele Dini

SVM CLASSIFICATION AND KALMAN FILTER BASED ESTIMATION OF THE TIRE-ROAD FRICTION CURVE ...... 3382 Enrico Regolin, Antonella Ferrara

VEHICLE STATE ESTIMATION USING A STATE DEPENDENT RICCATI EQUATION...... 3388 Robbin Van Hoek, Mohsen Alirezaei, Antoine Schmeitz, Henk Nijmeijer

A GLOBALLY EXPONENTIALLY CONVERGENT I&I OBSERVER FOR VEHICLES WITH ROLL DYNAMICS * ...... 3394 Jose Guadalupe Romero, Juan J. Ley-Rosas, Rafael Cisneros, Luis E. González-Jiménez, Alexander G. Loukianov

LATERAL & STEERING DYNAMICS ESTIMATION FOR SINGLE TRACK VEHICLE: EXPERIMENTAL TESTS*...... 3400 P-M Damon, D. Ichalal, L. Nehaoua, H. Arioui

VEHICLE SIDE SLIP ANGLE OBSERVATION WITH ROAD FRICTION ADAPTATION ...... 3406 Chi Jin, Liang Shao, Cornelia Lex, Arno Eichberger

STABILIZATION OF DISCRETE-TIME SWITCHED LINEAR SYSTEMS: LYAPUNOV-METZLER INEQUALITIES VERSUS S-PROCEDURE CHARACTERIZATIONS*...... 3412 A. Kundu, J. Daafouz, W. P. M. H. Heemels

ROBUST STABILITY OF TIME-INHOMOGENEOUS MARKOV JUMP LINEAR SYSTEMS*...... 3418 Yuriy Zacchia Lun, Alessandro D’Innocenzo, Maria Domenica Di Benedetto

LYAPUNOV-BASED STABILITY OF FEEDBACK INTERCONNECTIONS OF NEGATIVE IMAGINARY SYSTEMS...... 3424 Ahmed G. Ghallab, Mohamed A. Mabrok, Ian R. Petersen

PROLONGATION AND STABILITY OF ZENO SOLUTIONS TO HYBRID DYNAMICAL SYSTEMS*...... 3429 Sergey Dashkovskiy, Petro Feketa

STABILITY ANALYSIS OF DISCRETE-TIME LINEAR TIME-VARYING SWITCHED SYSTEMS WITH DELAYS* ...... 3435 Xingwen Liu, Hao Chen

FEEDBACK STABILITY FOR DISSIPATIVE SWITCHED SYSTEMS ...... 3442 Paschalis Karalis, Eva M. Navarro-López

NONLINEAR STATE ESTIMATION FOR TRAJECTORY TRACKING OF A FLEXIBLE PARALLEL MANIPULATOR* ...... 3449 Merlin Morlock, Christian Schröck Markus Burkhardt, Robert Seifried

CONTINUUM DEFORMATION OF A MULTI-QUADCOPTER SYSTEM IN A PAYLOAD DELIVERY MISSION...... 3455 Hossein Rastgoftar, Ehsan Taheri, Amir H. Ghasemi, Ella M. Atkins, Anouck Girard

LINEAR VS NONLINEAR MPC FOR TRAJECTORY TRACKING APPLIED TO ROTARY WING MICRO AERIAL VEHICLES...... 3463 Mina Kamel, Michael Burri, Roland Siegwart

ROBUST METHODS OF MAGNETIC NAVIGATION OF MARINE ROBOTIC VEHICLES*...... 3470 Francisco Curado Teixeira, João Quintas, António Pascoal

VIBRATION CONTROL BASED ON REINFORCEMENT LEARNING FOR A SINGLE-LINK FLEXIBLE ROBOTIC MANIPULATOR ...... 3476 Yuncheng Ouyang, Wei He, Xiajing Li, Jin-Kun Liu, Guang Li

ON THE INCLUSION OF TEMPERATURE IN THE FRICTION MODEL OF INDUSTRIAL ROBOTS ...... 3482 Luca Simoni, Manuel Beschi, Giovanni Legnani, Antonio Visioli

SCALABLE INTEGRATED SOLUTION FOR REAL TIME ESTIMATION, CONTROL AND OPTIMIZATION OF THE QUALITY OF FUELS MANUFACTURED IN REFINERIES: AN INDUSTRIAL STORY ...... 3488 Mériam Chèbre, Nicolas Petit, Charles-Henri Clerget, Jean-Philippe Grimaldi

RE-SCHEDULING OF AGVS STEADY STATE FLOW ...... 3493 G. Bocewicz, Z. Banaszak, I. Nielsen, W. Muszynski

OPTIMAL CONTROL OF A LARGE DAM USING TIME-INHOMOGENEOUS MARKOV CHAINS WITH AN APPLICATION TO FLOOD CONTROL ...... 3499 Daniel McInnes, Boris Miller

THE IDENTIFICATION OF THE INFLUENCE OF TRANSFORMING MULTIPLE-CRITERIA DECISIONMAKING METHOD PARAMETERS ON THEIR EFFICIENCY – SIMULATION STUDY RESULTS...... 3505 M. Adamczak, R. Domanski, P. Cyplik, K. Malinowska

MODULARITY IN THE DESIGN OF RECONFIGURABLE MANUFACTURING SYSTEMS ...... 3511 Khaled Lameche, Najib M. Najid, Pierre Castagna, Khalid Kouiss

FAULT-TOLERANT ECONOMIC MODEL PREDICTIVE CONTROL USING EMPIRICAL MODELS*...... 3517 Anas Alanqar, Helen Durand, Panagiotis D. Christofides

ROBUST SELF-TUNING CONTROL UNDER PROBABILISTIC UNCERTAINTY USING GENERALIZED POLYNOMIAL CHAOS MODELS ...... 3524 Yuncheng Du, Hector Budman, Thomas Duever

OFFSET-FREE ROBUST MPC OF SYSTEMS WITH MIXED STOCHASTIC AND DETERMINISTIC UNCERTAINTY ...... 3530 Joel A. Paulson, Lantao Xie, Ali Mesbah

POLYNOMIAL CHAOS-BASED H2-OPTIMAL STATIC OUTPUT FEEDBACK CONTROL OF SYSTEMS WITH PROBABILISTIC PARAMETRIC UNCERTAINTIES ...... 3536 Dongying E. Shen, Sergio Lucia, Yiming Wan, Rolf Findeisen, Richard D. Braatz

A THERMODYNAMIC LIBRARY FOR SIMULATION AND OPTIMIZATION OF DYNAMIC PROCESSES* ...... 3542 Tobias K. S. Ritschel, Jozsef Gaspar, John Bagterp Jørgensen

ARBITRARY POLYNOMIAL CHAOS FOR UNCERTAINTY PROPAGATION OF CORRELATED RANDOM VARIABLES IN DYNAMIC SYSTEMS ...... 3548 Joel A. Paulson, Edward A. Buehler, Ali Mesbah

LANE CHANGE PREDICTION BY COMBINING MOVEMENT AND SITUATION BASED PROBABILITIES...... 3554 Christian Wissing, Till Nattermann, Karl-Heinz Glander, Carsten Hass, Torsten Bertram

ENHANCED MEMS SINS AIDED PIPELINE SURVEYING SYSTEM BY PIPELINE JUNCTION DETECTION IN SMALL DIAMETER PIPELINE ...... 3560 Lianwu Guan, Xiaodan Cong, Yunlong Sun, Yanbin Gao, Umar Iqbal, Aboelmagd Noureldin

APPROACH METHODS FOR AUTONOMOUS PRECISION AERIAL DROP FROM A SMALL UNMANNED AERIAL VEHICLE ...... 3566 Siri H. Mathisen, Vegard Grindheim, Tor A. Johansen

ROBUST GPS-INS OUTLIER ACCOMMODATION: A SOFT-THRESHOLDED OPTIMAL ESTIMATOR ...... 3574 Paul F. Roysdon, Jay A. Farrell

EFFICIENT MULTI-AGENT TASK ALLOCATION FOR COLLABORATIVE ROUTE PLANNING WITH MULTIPLE UNMANNED VEHICLES...... 3580 Sukmin Yoon, Jinwhan Kim

RISK CONSTRAINED NAVIGATION USING MILP-MPC FORMULATION...... 3586 Samuel C. Pinto, Rubens J. M. Afonso

SYNCHRONIZED AND DEMOCRATIZED SMART GRIDS TO UNDERPIN THE THIRD INDUSTRIAL REVOLUTION...... 3592 Qing-Chang Zhong

RELAXED CONDITIONS FOR UNIFORM COMPLETE OBSERVABILITY AND CONTROLLABILITY OF LTV SYSTEMS WITH BOUNDED REALIZATIONS 1...... 3598 Pedro Batista, Nicolas Petit, Carlos Silvestre, Paulo Oliveira

NYQUIST INTERPRETATION OF THE LARGE GAIN THEOREM*...... 3606 Ryan James Caverly, James Richard Forbes

FREQUENCY-DOMAIN METHODS FOR SPARSE LINEAR SYSTEMS DISCRETISATION*...... 3612 M. Souza, A. R. Fioravanti, R. N. Shorten

BLOCK INVERTED DECOUPLING CONTROL WITH INTERNAL MODEL STRUCTURE FOR NON- SQUARE MULTIVARIABLE TIME DELAY SYSTEMS*...... 3617 Zehua Zhou, Shuyi Lin, Guoqing Zhang, Weidong Zhang

CHARACTERIZATION OF QUASI L∞/L2 HANKEL NORMS OF SAMPLED-DATA SYSTEMS ...... 3623 Akira Inai, Tomomichi Hagiwara, Jung Hoon Kim

SYMPLECTIC DISCRETIZATION OF PORT CONTROLLED HAMILTONIAN SYSTEMS ...... 3629 Laurent Lefevre, Silviu Medianu

WEAK INTERACTIONS BASED SYSTEM PARTITIONING USING INTEGER LINEAR PROGRAMMING...... 3635 Romain Guicherd, Paul A. Trodden, Andrew R. Mills, Visakan Kadirkamanathan

INFLUENCE OF WHEEL-RAIL CONTACT STIFFNESS ON THE H2 CONTROLLED ACTIVE SUSPENSION DESIGN...... 3642 Asli Soyiç Leblebici, Semiha Türkay

RANDOMIZED ALGORITHM BASED FAULT DETECTION SYSTEM DESIGN FOR UNCERTAIN LTI SYSTEMS...... 3648 M. Krueger, T. Koenings, Y. Liu, S. X. Ding, J. Saijai, L. Li

OPTIMAL OUTPUT REGULATION FOR UNDERACTUATED SYSTEMS WITH QUASIPERIODIC REFERENCES ...... 3654 D. Corona, A. Cristofaro, M. L. Corradini

GAIN MARGIN BASED CONDITIONS FOR EASY SIMULTANEOUS ACHIEVEMENT OF OPEN AND CLOSED LOOP DIAGONAL DOMINANCE UNDER UNSTRUCTURED UNCERTAINTIES...... 3660 Leopoldo Jetto, Valentina Orsini, Raffaele Romagnoli

A RENEWED LOOK AT ZEROS OF SAMPLED-DATA SYSTEMS—FROM THE LIFTING VIEWPOINT ...... 3668 Kaoru Yamamoto, Yutaka Yamamoto, Silviu-Iulian Niculescu

OBSERVER-BASED PREDICTIVE REPETITIVE CONTROL WITH EXPERIMENTAL VALIDATION...... 3674 Liuping Wang, Chris Freeman, Eric Rogers

AUTONOMOUS LANDING OF UAVS UNDER UNKNOWN DISTURBANCES USING NDI AUTOPILOT WITH L1 ADAPTIVE AUGMENTATION...... 3680 Amit K Tripathi, Vijay V Patel, Radhakant Padhi

NONLINEAR ROBUST CONTROL OF ATKINSON CYCLE ENGINE ...... 3685 G. Murtaza, A. I. Bhatti, Q. Ahmed, A. Arshad

NONLINEAR STABILITY CONTROL OF AUTONOMOUS VEHICLES: A MIMO D2-IBC SOLUTION ...... 3691 O. Galluppi, S. Formentin, C. Novara, S. M. Savaresi

APPLICATION OF GENETIC ALGORITHM ON PARAMETER OPTIMIZATION OF THREE VEHICLE CRASH SCENARIOS...... 3697 Bernard B. Munyazikwiye, Hamid R. Karimi, Kjell G. Robbersmyr

RECONFIGURABLE CONTROL DESIGN OF STEERING AND TORQUE VECTORING BASED ON REACHABILITY SET ANALYSIS*...... 3702 Balázs Németh, Péter Gáspár, Dániel Fenyes, József Bokor

DECENTRALIZED CONTROLLERS FOR THE STEERING AND VELOCITY IN VEHICLES ...... 3708 Diana Hernandez-Alcantara, Luis Amezquita-Brooks, Ruben Morales-Menendez

AUTONOMOUS DRIFT PARKING USING A SWITCHED CONTROL STRATEGY WITH ONBOARD SENSORS...... 3714 E. Jelavic, J. Gonzales, F. Borrelli

PLATOON MERGING DISTANCE PREDICTION USING A NEURAL NETWORK VEHICLE SPEED MODEL* ...... 3720 Mladen Cicic, Kuo-Yun Liang, Karl Henrik Johansson

DYNAMIC FULL RANGE INPUT SHAPING OF INJECTION PARAMETERS FOR REDUCTION OF TRANSIENT NOX EMISSIONS...... 3726 Martin Großbichler, Roman Schmied, Harald Waschl

A ROBUST STABILIZATION METHOD FOR A SATURATED LPV SYSTEM : APPLICATION TO THE LATERAL DYNAMICS OF VEHICLES.* ...... 3732 J. Bosche, A. Rabhi, A. El Hajjaji

FORK ELONGATION ESTIMATION IN A MOTORCYCLE SUSPENSION VIA KALMAN-FILTER TECHNIQUES FOR SEMI-ACTIVE END-STOP AVOIDANCE CONTROL...... 3738 T. Colombo, D. Delvecchio, S. Savaresi

EMOTIONS EMBODIED IN THE SVC OF AN AUTONOMOUS DRIVER SYSTEM...... 3744 Z. Kowalczuk, M. Czubenko

OPTIMAL CONTROL OF EGR SYSTEM IN GASOLINE ENGINE BASED ON GAUSSIAN PROCESS...... 3750 Mahdi Zarghami, S. Hassan Hosseinnia, Mehrdad Babazadeh

SYSTEM IDENTIFICATION UNDER INFORMATION SECURITY...... 3756 Changbao Xu, Yanlong Zhao, Ji-Feng Zhang, Hongsheng Qi

DO THE CUBATURE AND UNSCENTED KALMAN FILTERING METHODS OUTPERFORM ALWAYS THE EXTENDED KALMAN FILTER ?*...... 3762 Gennady Yu. Kulikov, Maria V. Kulikova

CONSTRAINED POSTERIOR CRAMÉR-RAO BOUND FOR DISCRETE-TIME SYSTEMS 1 ...... 3768 Leif Erik Andersson, Lars Imsland, Edmund Førland Brekke, Francesco Scibilia

MODEL PREDICTIVE CONTROL MEETS ROBUST KALMAN FILTERING * ...... 3774 Alberto Zenere, Mattia Zorzi

TEAM-OPTIMAL INCENTIVE STACKELBERG STRATEGIES FOR MARKOV JUMP LINEAR STOCHASTIC SYSTEMS WITH H∞ CONSTRAINT*...... 3780 Hiroaki Mukaidani, Tadashi Shima, Masaru Unno, Hua Xu, Vasile Dragan

MINIMUM VARIANCE NONLINEAR ESTIMATION: STATE EVOLUTION APPROACH ...... 3786 Endre Nagy

A NEW STATE ESTIMATION FRAMEWORK FOR HUMANOIDS BASED ON A MOVING HORIZON ESTIMATOR...... 3793 Hyoin Bae, Jaesung Oh, Hyobin Jeong, Jun-Ho Oh

MIXED H2/H∞ STATE FEEDBACK CONTROL FOR MARKOV JUMP LINEAR SYSTEMS WITH HIDDEN OBSERVATIONS ...... 3800 André Marcorin De Oliveira, Oswaldo Luiz Do Valle Costa

CIRCLE CRITERION FOR CONTINUOUS-TIME MARKOV JUMP MIMO SYSTEMS *...... 3806 Lucas Porrelli Moreira Da Silva, Alim Pedro De Castro Gonçalves

ESTIMATION OF DAMPED SINUSOIDAL SIGNALS: AN OBSERVER-BASED APPROACH...... 3811 Yang Wang, Boli Chen, Gilberto Pin, Thomas Parisini

PSEUDOMEASUREMENT KALMAN FILTER IN UNDERWATER TARGET MOTION ANALYSIS & INTEGRATION OF BEARING-ONLY AND ACTIVE-RANGE MEASUREMENT * ...... 3817 A. Miller, B. Miller

STATE-MULTIPLICATIVE NOISY SYSTEMS: ROBUST H∞ OUTPUT-FEEDBACK CONTROL ...... 3823 Eli Gershon, Uri Shaked

MULTI-SENSOR TRANSMISSION MANAGEMENT FOR REMOTE STATE ESTIMATION UNDER COORDINATION...... 3829 Kemi Ding, Yuzhe Li, Subhrakanti Dey, Ling Shi

NETWORKED FUSION ESTIMATION UNDER DENIAL-OF-SERVICE ATTACKS*...... 3835 Bo Chen, Li Yu, Daniel W. C. Ho, Wen-An Zhang

ROBUST STABILITY ANALYSIS OF DISCRETE-TIME LINEAR SYSTEMS WITH DYNAMICS DETERMINED BY A MARKOV PROCESS* ...... 3841 Yohei Hosoe, Tomomichi Hagiwara

LINEAR QUADRATIC GAUSSIAN CONTROL FOR DISCRETE-TIME SYSTEMS WITH DELAY AND MULTIPLICATIVE NOISE...... 3847 Xiao Liang, Juanjuan Xu, Huanshui Zhang

A NEW SIGMA-POINT FILTER–UNIFORM RANDOM SAMPLING KALMAN FILTER* ...... 3853 Zitian Wang, Xiaoxu Wang, Yan Liang, Feng Yang

ADAPTIVE UNSCENTED KALMAN FILTER USING MAXIMUM LIKELIHOOD ESTIMATION* ...... 3859 Zeinab Mahmoudi, Niels Kjølstad Poulsen, Henrik Madsen, John Bagterp Jørgensen

ESTIMATION IN CENTRIFUGAL COMPRESSORS VIA PARTICLE FILTERING* ...... 3865 L. Bisone, S. Bittanti, M. Casnedi, A. De Marco, S. Garatti, D. Pareschi, A. Pochiero

CONTROLLABILITY ISSUES FOR RANDOMLY SWITCHING PIECEWISE LINEAR MARKOV PROCESSES*...... 3871 Dan Goreac

STABLE MODEL-BASED CONTROL WITH GAUSSIAN PROCESS REGRESSION FOR ROBOT MANIPULATORS ...... 3877 Thomas Beckers, Jonas Umlauft, Sandra Hirche

H∞ OBSERVER DESIGN FOR A CLASS OF NONLINEAR SINGULAR STOCHASTIC SYSTEMS ...... 3885 Asma Barbata, Michel Zasadzinski, Harouna Souley Ali

DETECTION OF MARKOV CHAIN MODELS FROM OBSERVED DATA USING BINARY HYPOTHESIS TESTING AND CONSENSUS* ...... 3893 Aneesh Raghavan, John S. Baras

PROJECTIVE APPROXIMATION BASED GRADIENT DESCENT MODIFICATION...... 3899 Alexander Senov, Oleg Granichin

UNSUPERVISED SEMICONDUCTOR CHAMBER MATCHING BASED ON SHAPE COMPARISON...... 3905 Julien Marino, Francesco Rossi, Mustapha Ouladsine, Jacques Pinaton

AUTOMATION AND CONTROL OF A DISSOLVED AIR FLOTATION PILOT PLANT...... 3911 Rodolpho R. Fonseca, José P. Thompson Jr., Ivan C. Franco, Flávio V. Da Silva

NONLINEAR SYSTEM IDENTIFICATION OF THE DISSOLVED OXYGEN TO EFFLUENT AMMONIA DYNAMICS IN AN ACTIVATED SLUDGE PROCESS ...... 3917 Tatiana Chistiakova, Per Mattsson, Bengt Carlsson, Torbjörn Wigren

CONTROL OF A FARM ANAEROBIC DIGESTER FOR AGRICULTURAL WASTES ...... 3923 Nouceiba Adouani, Marie-Noëlle Pons, Aziz Assaad, Rainier Hreiz, Benjamin Ravard, Stéphane Pacaud

EXTENT COMPUTATION UNDER RANK-DEFICIENT CONDITIONS ...... 3929 Alma Mašic, Julien Billeter, Dominique Bonvin, Kris Villez

INCORPORATING SULFUR AND RELEVANT REACTIONS INTO A GENERAL PLANTWIDE AND SEWER MODEL...... 3935 Hélène Hauduc, Bruce Johnson, Charles Bott, Matthew Ward, Imre Takács

REAL-TIME CONTROL-ORIENTED QUALITY MODELLING IN COMBINED URBAN DRAINAGE NETWORKS*...... 3941 Congcong Sun, Bernat Joseph-Duran, Thibaud Maruejouls, Gabriela Cembrano, Jordi Meseguer, Vicenc Puig, Xavier Litrico

DAMPING IMPROVEMENT OF A F-16 AIRCRAFT THROUGH LINEAR MATRIX INEQUALITIES...... 3947 J. P. P Andrade, V. A. F. Campos, A. S. Potts, C. Garcia

A GLOBAL OPTIMIZATION APPROACH TO H∞ SYNTHESIS WITH PARAMETRIC UNCERTAINTIES APPLIED TO AUV CONTROL...... 3953 D. Monnet, J. Ninin, B. Clement

SEMIDEFINITE PROGRAMMING SOLUTION TO THE SPACECRAFT ANALYSIS AND CONTROL PROBLEM...... 3959 Aurélio T. Salton, Rafael S. Castro, Bernardo S. Borges, Jeferson V. Flores, Daniel F. Coutinho

LFT MODELING AND µ ANALYSIS OF THE AIRCRAFT LANDING BENCHMARK ...... 3965 Andrea Iannelli, Pedro Simplício, Diego Navarro-Tapia, Andrés Marcos

ROBUST FLARE CONTROL DESIGN USING STRUCTURED H∞ SYNTHESIS: A CIVILIAN AIRCRAFT LANDING CHALLENGE...... 3971 D. Navarro-Tapia, P. Simplício, A. Iannelli, A. Marcos

ROBUST AUTOPILOT DESIGN FOR CROSSWIND LANDING ...... 3977 Julian Theis, Daniel Ossmann, Harald Pfifer

CONDITIONS FOR HANDLING CONFOUNDING VARIABLES IN DYNAMIC NETWORKS*...... 3983 Arne Dankers, Paul M. J. Van Den Hof, Donatello Materassi, Harm H. M. Weerts

COMPARISON OF REGULARIZED LEAST-SQUARES APPROACH AND PREDICTIVE ERROR METHOD: CASE STUDIES * ...... 3989 Mengyuan Fang, Yucai Zhu

CLOSED-LOOP IDENTIFICATION BASED PID TUNING WITHOUT EXTERNAL EXCITATION * ...... 3995 Yan Wengang, Zhu Yucai, Zhao Jun

EXPLICIT PARAMETER-DEPENDENT REPRESENTATIONS OF PERIODIC SOLUTIONS FOR A CLASS OF NONLINEAR SYSTEMS ...... 4001 J. Al-Ameri Mohammed, I. Tyukin

PART 7

RECURSIVE ONLINE IV METHOD FOR IDENTIFICATION OF CONTINUOUS-TIME SLOWLY TIME- VARYING MODELS IN CLOSED LOOP ...... 4008 A. Padilla, H. Garnier, P. C. Young, J. Yuz

DETERMINATION OF REACHABLE FLIGHT REGIONS: A ZONOTOPIC APPROACH...... 4014 E. Eyang, C. Combastel, A. Zolghadri

INTERVAL OBSERVER DESIGN FOR UNKNOWN INPUT ESTIMATION OF LINEAR TIME-INVARIANT DISCRETE-TIME SYSTEMS...... 4021 Elinirina I. Robinson, Julien Marzat, Tarek Raïssi

EVENT-BASED PREDICTION-CORRECTION STATE ESTIMATOR *...... 4027 Djahid Rabehi, Nacim Meslem, Adnen El Amraoui, Nacim Ramdani

ACTUATOR FAULT COMPENSATION IN A SET-MEMBERSHIP FRAMEWORK FOR LINEAR PARAMETER-VARYING SYSTEMS...... 4033 Rihab Lamouchi, Messaoud Amairi, Tarek Raïssi, Mohamed Aoun

DISTRIBUTED ZONOTOPIC SET-MEMBERSHIP STATE ESTIMATION BASED ON OPTIMIZATION METHODS WITH PARTIAL PROJECTION *...... 4039 Ye Wang, Teodoro Alamo, Vicenç Puig, Gabriela Cembrano

ON DESIGN OF INTERVAL OBSERVERS FOR PARABOLIC PDES ...... 4045 Tatiana Kharkovskaia, Denis Efimov, Emilia Fridman, Andrey Polyakov, Jean-Pierre Richard

ON THE PARTIAL RATIONAL STABILIZABILITY OF NONLINEAR SYSTEMS BY OPTIMAL FEEDBACK CONTROL: EXAMPLES ...... 4051 Maâli Zaghdoudi, Chaker Jammazi

APPLICATION OF OPTIMAL CONTROL AND STABILIZATION TO AN INFINITE TIME HORIZON PROBLEM UNDER CONSTRAINTS * ...... 4057 Andrey A. Krasovskii, Pavel D. Lebedev, Alexander M. Tarasyev

SUCCESSIVE CONVEXIFICATION OF NON-CONVEX OPTIMAL CONTROL PROBLEMS WITH STATE CONSTRAINTS ...... 4063 Yuanqi Mao, Daniel Dueri, Michael Szmuk, Behçet Açikmese

AN INDIRECT METHOD FOR INEQUALITY CONSTRAINED OPTIMAL CONTROL PROBLEMS* ...... 4070 Zhong Wang, Yan Li

EXPERIMENTALLY VALIDATED MODEL PREDICTIVE CONTROLLER FOR A HEXACOPTER* ...... 4076 Jeroen A. J. Ligthart, Pakorn Poksawat, Liuping Wang, Henk Nijmeijer

ON EXTREMAL PROPERTIES OF BOUNDARY POINTS OF REACHABLE SETS FOR A SYSTEM WITH INTEGRALLY CONSTRAINED CONTROL...... 4082 Mikhail I. Gusev, Igor V. Zykov

ROBUST NONLINEAR CONTROL OF A THREE-TANK SYSTEM IN THE PRESENCE OF MISMATCHED UNCERTAINTIES...... 4088 Zi-Jiang Yang, Hiroyuki Sugiura

SWING-UP OF THE MOVING DOUBLE PENDULUM ON A CART WITH SIMULATION BASED LQR- TREES ...... 4094 Ke Xu, Julia Timmermann, Ansgar Trächtler

EXTENDED NGMV PREDICTIVE CONTROL OF QUASI-LPV SYSTEMS...... 4101 M. J. Grimble, Pawel Majecki, M. R. Katebi

ROBUST SIMULATION OF RATIONAL DISCRETE-TIME SYSTEMS VIA SUM OF SQUARES RELAXATIONS...... 4108 Paolo Massioni, Gérard Scorletti

GLOBAL TRACKING-STABILIZATION CONTROL OF MOBILE ROBOTS WITH PARAMETRIC UNCERTAINTY* ...... 4114 Mohamed Maghenem, Antonio Loria, Elena Panteley

PURCELL MAGNETO-ELASTIC SWIMMER CONTROLLED BY AN EXTERNAL MAGNETIC FIELD...... 4120 F. Alouges, A. Desimone, L. Giraldi, M. Zoppello

STABILITY ANALYSIS OF 2D ROESSER SYSTEMS VIA VECTOR LYAPUNOV FUNCTIONS* ...... 4126 Pavel Pakshin, Julia Emelianova, Krzysztof Galkowski, Eric Rogers

TWO LYAPUNOV METHODS IN NONLINEAR STATE ESTIMATION VIA FINITE CAPACITY COMMUNICATION CHANNELS *...... 4132 A. Matveev, A. Pogromsky

PASS PROFILE EXPONENTIAL AND ASYMPTOTIC STABILITY OF NONLINEAR REPETITIVE PROCESSES*...... 4138 Pavel Pakshin, Julia Emelianova, Mikhail Emelianov, Krzysztof Galkowski, Eric Rogers

LEARNING SUBOPTIMAL BROADCASTING INTERVALS IN MULTI-AGENT SYSTEMS ...... 4144 Domagoj Tolic, Ivana Palunko

STACKED ADAPTIVE DYNAMIC PROGRAMMING WITH UNKNOWN SYSTEM MODEL...... 4150 Pavel Osinenko, Thomas Göhrt, Grigory Devadze, Stefan Streif

DATA-DRIVEN ADAPTIVE LQR FOR COMPLETELY UNKNOWN LTI SYSTEMS*...... 4156 Sumit Kumar Jha, Sayan Basu Roy, Shubhendu Bhasin

OPTIMAL CONTROL VIA REINFORCEMENT LEARNING WITH SYMBOLIC POLICY APPROXIMATION...... 4162 Jirí Kubalík, Eduard Alibekov, Robert Babuška

NEAR-OPTIMAL CONTROL WITH ADAPTIVE RECEDING HORIZON FOR DISCRETE-TIME PIECEWISE AFFINE SYSTEMS*...... 4168 Jia Xu, Lucian Busoniu, Bart De Schutter

IMPROVED CLASSIFICATION WITH SEMI-SUPERVISED DEEP BELIEF NETWORK ...... 4174 Gongming Wang, Junfei Qiao, Xiaoli Li, Lei Wang, Xiaolong Qian

ON FATTORINI’S PAPER: “BOUNDARY CONTROL SYSTEMS” ...... 4180 Hans Zwart

A MESSAGE PASSING ALGORITHM FOR AUTOMATIC SYNTHESIS OF PROBABILISTIC FAULT DETECTORS FROM BUILDING AUTOMATION ONTOLOGIES...... 4184 R. Ferrari, H. Dibowski, S. Baldi

DOMESTIC HEAT GENERATION AND DISTRIBUTION WITH TIME-VARIANT RECEDING HORIZON CONTROL ...... 4191 Yannik Löhr, Martin Mönnigmann

DISTRIBUTED CLUSTERING-BASED SENSOR FAULT DIAGNOSIS FOR HVAC SYSTEMS* ...... 4197 Francesca Boem, Redona Reci, Angelo Cenedese, Thomas Parisini

MODEL-BASED FUZZY CONTROL OF AIR-CONDITIONING SYSTEMS USING AIR BYPASS FOR OPTIMIZED DEHUMIDIFICATION ...... 4203 Nico Goldschmidt, Horst Schulte

DISTRIBUTED DIAGNOSIS OF ACTUATOR AND SENSOR FAULTS IN HVAC SYSTEMS*...... 4209 Panayiotis M. Papadopoulos, Vasso Reppa, Marios M. Polycarpou, Christos G. Panayiotou

MODEL PREDICTIVE CONTROL FOR HYDRONIC HEATING SYSTEMS IN RESIDENTIAL BUILDINGS ...... 4216 Sven Fielsch, Tim Grunert, Matthias Stursberg, Anton Kummert

SECTORS CO-OPERATION IN AIR TRAFFIC MANAGEMENT ...... 4222 Ludovica Adacher, Marta Flamini, Elpidio Romano

EFFICIENT DYNAMIC PROGRAMMING SOLUTION TO A PLATOON COORDINATION MERGE PROBLEM WITH STOCHASTIC TRAVEL TIMES ...... 4228 Sebastian Van De Hoef, Karl H. Johansson, Dimos V. Dimarogonas

DISTRIBUTED FAULT TOLERANT PERIMETER CONTROL FOR URBAN ROAD NETWORKS...... 4234 Jack Haddad, Boris Mirkin

CONGESTION AND EMISSIONS REDUCTION IN FREEWAY TRAFFIC NETWORKS VIA SUPERVISORY EVENT-TRIGGERED CONTROL...... 4240 A. Ferrara, C. Pasquale, S. Sacone, S. Siri

COORDINATED PRODUCTION INVENTORY ROUTING PLANNING FOR PERISHABLE FOOD ...... 4246 Yantong Li, Feng Chu, Kejia Chen

ADAPTIVE CONTROL FOR A CLASS OF PARTIALLY UNKNOWN NON-AFFINE SYSTEMS: APPLIED TO AUTONOMOUS SURFACE VESSELS*...... 4252 Ali Haseltalab, Rudy R. Negenborn

ON ROBUSTNESS AND PERFECT TRACKING WITH SIMPLE ADAPTIVE CONTROL IN NONLINEAR SYSTEMS...... 4258 Itzhak Barkana

TWO TRACKING ARCHITECTURES USING SIMPLE ADAPTIVE CONTROL WITHIN A LINEAR LOOP ...... 4264 Haim Weiss, Ilan Rusnak

SIMPLE ADAPTIVE ALGORITHM FOR PLANTS WITH INPUT DELAY AND DISTURBANCES *...... 4270 Igor B. Furtat

EVENT-TRIGGERED ADAPTIVE CONTROL OF MINIMUM-PHASE SYSTEMS ...... 4276 Anton Selivanov, Emilia Fridman, Alexander Fradkov

ADAPTIVE TRACKING OF A MULTI-SINUSOIDAL SIGNAL WITH DREM-BASED PARAMETERS ESTIMATION* ...... 4282 Oleg I. Borisov, Vladislav S. Gromov, Alexey A. Vedyakov, Anton A. Pyrkin, Alexey A. Bobtsov, Stanislav V. Aranovskiy

ROBUST ADAPTIVE MAGNETIC CONTROL OF SATELLITES WITH UNCERTAIN PARAMETERS*...... 4288 Harmonie Leduc, Dimitri Peaucelle, Marco Lovera, Christelle Pittet

INCREMENTAL NONLINEAR DYNAMIC INVERSION CONTROL FOR HYDRAULIC HEXAPOD FLIGHT SIMULATOR MOTION SYSTEMS* ...... 4294 Yingzhi Huang, D. M. Pool, O. Stroosma, Q. P. Chu

DISTURBANCE OBSERVER CONTROL FOR AC SPEED SERVO WITH IMPROVED NOISE ATTENUATION ...... 4300 J. Vonkomer, I. Béai, M. Huba

HIGH PERFORMANCE DC SERVO SYSTEM DESIGN BASED ON SCHEDULED DISTURBANCE OBSERVER* ...... 4306 Guofei Xiang, Lu Wang, Jianbo Su

NAVIGATION FUNCTION USED FOR PARALLEL PARKING IN RESTRICTED AREA BY A DIFFERENTIALLY-DRIVEN MOBILE ROBOT...... 4312 Mateusz Przybyla, Wojciech Kowalczyk, Krzysztof Kozlowski

AUTOMATIC GAIN TUNING FOR ROBUST PID CONTROL USING TIME-DELAY CONTROL * ...... 4318 Maolin Jin, Jun Young Lee, Pyung-Hun Chang, Min-Gyu Kim, Sang Hoon Kang

USING ITERATIVE LQR TO CONTROL TWO QUADROTORS TRANSPORTING A CABLE-SUSPENDED LOAD...... 4324 Yaser Alothman, Minhuan Guo, Dongbing Gu

CONFIGURING THE DEPLOYMENT INTO SOFTWARE-BASED CONTROLLERS THROUGH HIERARCHICAL SIMULATIONS ...... 4330 Giacomo Barbieri, Roberto Borsari, Cesare Fantuzzi

SUPPORTING THE DEVELOPMENT OF INTERDISCIPLINARY PRODUCT LINES IN THE MANUFACTURING DOMAIN ...... 4336 Matthias Kowal, Sofia Ananieva, Thomas Thüm, Ina Schaefer

EVALUATION OF MANIPULATORS UNDER CPPS FRAME...... 4342 V. C. Moulianitis, G. Zachiotis, C. Valsamos, N. A. Aspragathos

MODELING OF INTERDEPENDENCIES BETWEEN PRODUCTS, PROCESSES AND RESOURCES TO SUPPORT THE EVOLUTION OF MECHATRONIC SYSTEMS ...... 4348 Xuan-Luu Hoang, Philipp Marks, Michael Weyrich, Alexander Fay

A FRAMEWORK FOR SIZING EMBEDDED MECHATRONIC SYSTEMS DURING PRELIMINARY DESIGN...... 4354 S. Delbecq, M. Budinger, I. Hazyuk, F. Sanchez, J. Piaton

MAINTENANCE EFFORT ESTIMATION WITH KAMP4APS FOR CROSS-DISCIPLINARY AUTOMATED PLC-BASED PRODUCTION SYSTEMS - A COLLABORATIVE APPROACH...... 4360 Birgit Vogel-Heuser, Robert Heinrich, Suhyun Cha, Kiana Rostami, Felix Ocker, Sandro Koch, Ralf Reussner, Simon Ziegltrum

NONLINEAR ADAPTIVE BACKSTEPPING EXCITATION CONTROLLER DESIGN FOR HIGHER-ORDER MODELS OF SYNCHRONOUS GENERATORS...... 4368 T. K. Roy, M. A. Mahmud, Amanullah M. T. Oo, H. R. Pota

OPTIMAL TERTIARY FREQUENCY CONTROL IN POWER SYSTEMS WITH MARKET-BASED REGULATION*...... 4374 Magnus Perninge, Robert Eriksson

POWER-IMBALANCE ALLOCATION CONTROL FOR SECONDARY FREQUENCY CONTROL OF POWER SYSTEMS ...... 4382 Kaihua Xi, Johan L. A. Dubbeldam, Haixiang Lin, Jan H. Van Schuppen

EXTENDED PARTIAL STATES OBSERVER BASED LOAD FREQUENCY CONTROL SCHEME DESIGN FOR MULTI-AREA POWER SYSTEM CONSIDERING WIND ENERGY INTEGRATION...... 4388 Chunyu Chen, Kaifeng Zhang, Kun Yuan, Wei Wang

PRIMARY FREQUENCY REGULATION IN POWER NETWORKS WITH ANCILLARY SERVICE FROM LOAD-SIDE PARTICIPATION* ...... 4394 Andreas Kasis, Eoin Devane, Ioannis Lestas

SPATIALLY CONTINUOUS MODELING AND CONTROL OF SWING DYNAMICS IN ELECTRIC POWER GRIDS*...... 4400 Lea Sirota, Anuradha M. Annaswamy

REFRACTIVE INDEX ESTIMATION FROM SPECTRAL MEASUREMENTS OF A PLASMONIC GLUCOSE SENSOR AND WAVELENGTH SELECTION * ...... 4406 Tanja Teutsch, Martin Mesch, Harald Giessen, Cristina Tarín

A FOUR-STAGE LOCALIZATION METHOD FOR EPILEPTIC SEIZURE ONSET ZONES* ...... 4412 Ting Wan, Min Wu, Xuzhi Lai, Xiongbo Wan, Jinhua She, Yuxiao Du

A BIO-ENERGETIC MODEL OF CYCLIST FOR ENHANCING PEDELEC SYSTEMS...... 4418 Nadia Rosero, John J. Martinez, Henry Leon

A FORMALLY-VERIFIED SAFETY SYSTEM FOR CLOSED-LOOP ANESTHESIA ...... 4424 Mahdi Yousefi, Klaske Van Heusden, Ian M. Mitchell, J. Mark Ansermino, Guy A. Dumont

GLYCEMIC MONITORING IN CRITICAL CARE USING NONLINEAR STATE ESTIMATORS ...... 4430 E. Aguirre-Zapata, J. Cardenas-Cartagena, J. Garcia-Tirado

SEPARATION OF CARDIAC- AND VENTILATION-RELATED SIGNALS WITHIN ELECTRICAL IMPEDANCE TOMOGRAPHY DATA BASED ON MULTI-DIMENSIONAL ENSEMBLE EMPIRICAL MODE DECOMPOSITION ...... 4436 Xuxue Sun, Orschulik Jakob, Jaakko Malmivuo, Steffen Leonhardt

PARETO OPTIMAL GENERALIZED H2-CONTROL AND OPTIMAL PROTECTION FROM VIBRATION* ...... 4442 Dmitry V. Balandin, Mark M. Kogan

NON-LINEAR IDENTIFICATION OF A PELTIER CELL MODEL USING EVOLUTIONARY MULTI- OBJECTIVE OPTIMIZATION*...... 4448 Victor Huilcapi, Juan Manuel Herrero, Xavier Blasco, Miguel Martínez-Iranzo

CONSIDERATIONS ON LOOP PAIRING IN MIMO PROCESSES. A MULTI-CRITERIA ANALYSIS * ...... 4454 J. M. Herrero, G. Reynoso-Meza, C. Ramos, X. Blasco

HEURISTIC KALMAN ALGORITHM FOR MULTIOBJECTIVE OPTIMIZATION.* ...... 4460 Helon V. Hultmann Ayala, Leandro Dos Santos Coelho, Gilberto Reynoso-Meza

NON-LINEAR ROBUST IDENTIFICATION OF A LEAD ACID BATTERY MODEL USING MULTIOBJECTIVE EVOLUTIONARY ALGORITHMS*...... 4466 Alberto Pajares, Xavier Blasco, Juan Manuel Herrero, Raúl Simarro

MULTI-OBJECTIVE OPTIMIZATION FOR GENE EXPRESSION NOISE REDUCTION IN A SYNTHETIC GENE CIRCUIT * ...... 4472 Y. Boada, A. Vignoni, J. Picó

MODELS USED FOR THE SIMULATION AND CONTROL OF A SEGMENTED ULTRALIGHT MORPHING ROTOR...... 4478 Daniel S. Zalkind, Lucy Y. Pao, Dana P. Martin, Kathryn E. Johnson

ACTIVE POWER CONTROL OF WAKED WIND FARMS *...... 4484 Jan-Willem Van Wingerden, Lucy Pao, Jacob Aho, Paul Fleming

MPPT AND YAW CONTROL COMBINATION OF A NEW TWIN WIND TURBINES STRUCTURE ...... 4492 I. Guenoune, F. Plestan, A. Chermitti

ROBUST LIDAR-BASED CLOSED-LOOP WAKE REDIRECTION FOR WIND FARM CONTROL ...... 4498 Steffen Raach, Sjoerd Boersma, Jan-Willem Van Wingerden, David Schlipf, Po Wen Cheng

LOGARITHMIC POWER FEEDBACK FOR EXTREMUM SEEKING CONTROL OF WIND TURBINES...... 4504 Mario A. Rotea

ADJOINT-BASED MODEL PREDICTIVE CONTROL OF WIND FARMS: BEYOND THE QUASI STEADY- STATE POWER MAXIMIZATION* ...... 4510 Mehdi Vali, Vlaho Petrovic, Sjoerd Boersma, Jan-Willem Van Wingerden, Martin Kühn

SOLVING THE REGULATOR PROBLEM FOR A 1-D SCHRÖDINGER EQUATION VIA BACKSTEPPING * ...... 4516 Hua-Cheng Zhou, George Weiss

BACKSTEPPING CONTROL OF LINEAR 2 x 2 HYPERBOLIC SYSTEMS WITH DYNAMIC BOUNDARY CONDITIONS ...... 4522 J. Deutscher, N. Gehring, R. Kern

BOUNDARY CONTROL OF A RIJKE TUBE USING IRRATIONAL TRANSFER FUNCTIONS WITH EXPERIMENTAL VALIDATION ...... 4528 Gustavo A. De Andrade, Rafael Vazquez, Daniel J. Pagano

FLUID-FLOW MODELING AND STABILITY ANALYSIS OF COMMUNICATION NETWORKS ...... 4534 Nicolás Espitia, Antoine Girard, Nicolas Marchand, Christophe Prieur

REGIONAL STABILIZATION FOR A CLASS OF BILINEAR SYSTEMS ...... 4540 El Hassan Zerrik, Abderrahman Ait Aadi, Rachid Larhrissi

CLOSED-LOOP PERTURBATIONS OF WELL-POSED LINEAR SYSTEMS...... 4546 Ghislain Haine

ON THE OBSERVABILITY OF SWITCHED LINEAR SYSTEMS WITH UNOBSERVABLE MODES...... 4552 Sinuhé Martínez-Martínez, Nadhir Messai, Taha Boukhobza, Noureddine Manamanni

PATH-COMPLETE POSITIVITY OF SWITCHING SYSTEMS ...... 4558 F. Forni, R. M. Jungers, R. Sepulchre

DATA ASSIGNMENT AND PARAMETER ADAPTATION FOR SWITCHED LPV SYSTEM ESTIMATION ...... 4564 Baya Hadid, Stéphane Lecoeuche

HYBRID OBSERVER FOR AN INTRINSIC IMPULSIVE FEEDBACK SYSTEM* ...... 4570 Diana Yamalova, Alexander Churilov, Alexander Medvedev

DEAD-BEAT STABILIZABILITY OF AUTONOMOUS SWITCHED LINEAR DISCRETE-TIME SYSTEMS* ...... 4576 M. Fiacchini, G. Millérioux

BEHAVIORAL ANALYSIS IN NURSING AND CAREGIVING SERVICES USING SWITCHED LINEAR REGRESSION MODELS ...... 4582 Koichi Kobayashi, Kunihiko Hiraishi, Sunseong Choe, Naoshi Uchihira

THORVALD II - A MODULAR AND RE-CONFIGURABLE AGRICULTURAL ROBOT...... 4588 Lars Grimstad, Pål Johan From

VISUAL SERVO FOR FAST GLASS HANDLING BY INDUSTRIAL ROBOT WITH LARGE SENSOR LATENCY AND LOW SAMPLING RATE*...... 4594 Xiaowen Yu, Thomas Baker, Yu Zhao, Masayoshi Tomizuka

A LOW-COST AND FLEXIBLE SOLUTION FOR ONE-SHOT COOPERATIVE ROBOTIC DRILLING OF AERONAUTIC STACK MATERIALS ...... 4602 Pasquale Cirillo, Alessandro Marino, Ciro Natale, Emiliano Di Marino, Pasquale Chiacchio, Giuseppe De Maria

SYSTEMS OF TETHERED MULTICOPTERS: MODELING AND CONTROL DESIGN...... 4610 L. Fagiano

ROBOTIC CONTOUR TRACING WITH HIGH-SPEED VISION AND FORCE-TORQUE SENSING BASED ON DYNAMIC COMPENSATION SCHEME ...... 4616 Shouren Huang, Bergström Niklas, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa

HOME HEALTH CARE VULNERABILITY ASSESSMENT USING GRAPH THEORY AND MATRIX METHODS...... 4623 H. Barkaoui, A. Guinet, T. Wang

A MITIGATION TOOL TO PROTECT A HOME HEALTH CARE STRUCTURE FACING A HYDROLOGICAL DISASTER ...... 4630 A. Guinet, H. Barkaoui, T. Wang, E. Dubost

PATIENT ADMISSION CONTROL IN A HIERARCHICAL HEALTHCARE SYSTEM...... 4636 Xin Pan, Jie Song, Bo Zhang

MATURITY MODEL-DRIVEN ASSESSMENT OF FIELD HOSPITALS...... 4642 Sihem Mallek-Daclin, Nicolas Daclin, Gilles Dusserre, Bruno Lhéritier, Jean Blanchard, Isabelle Arnaud

RISK MANAGEMENT IN HOSPITAL WARDS: THE CASE OF BLOOD PROCUREMENT AND HANDLING...... 4648 Anna C. Cagliano, Sabrina Grimaldi, Giulio Mangano, Carlo Rafele

PLANNING IN HOME HEALTH CARE STRUCTURES: A LITERATURE REVIEW...... 4654 Maria Di Mascolo, Marie-Laure Espinouse, Zied El Hajri

ROBUST MULTI-PARAMETRIC CONTROL OF CONTINUOUS-TIME LINEAR DYNAMIC SYSTEMS...... 4660 Muxin Sun, Mario E. Villanueva, Efstratios N. Pistikopoulos, Benoît Chachuat

REAL-TIME OPTIMIZATION VIA MODIFIER ADAPTATION USING PARTIAL PLANT MODELS...... 4666 A. Papasavvas, T. De Avila Ferreira, A. G. Marchetti, D. Bonvin

GLOBAL SELF-OPTIMIZING CONTROL FOR UNCERTAIN CONSTRAINED PROCESS SYSTEMS* ...... 4672 Lingjian Ye, Yi Cao, Sigurd Skogestad

PART 8

RUN-TO-RUN OPTIMIZATION OF BATCH PROCESSES USING SET-BASED CONSTRAINTS ...... 4678 Rubin Hille, Hector M. Budman

ACCELERATED AND ADAPTIVE MODIFIER-ADAPTATION SCHEMES FOR UNCONSTRAINED UNCERTAIN SYSTEMS ...... 4684 René Schneider, Predrag Milosavljevic, Dominique Bonvin

TIME-OPTIMAL OPERATION OF MEMBRANE PROCESSES IN THE PRESENCE OF FOULING WITH SET-MEMBERSHIP PARAMETER ESTIMATION * ...... 4690 Martin Jelemenský, Miroslav Fikar, Radoslav Paulen

ALPHA-STABLE DISTRIBUTION BASED METHODS IN THE ANALYSIS OF THE CRUSHER VIBRATION SIGNALS FOR FAULT DETECTION ...... 4696 Grzegorz Zak, Agnieszka Wylomanska, Radosaw Zimroz

ON-LINE UPDATING OF CYCLOSTATIONARY TOOLS FOR FAULT DETECTION IN ROTATING MACHINES - THE FILTER BANK APPROACH*...... 4702 Piotr Kruczek, Jakub Obuchowski, Agnieszka Wylomanska, Radoslaw Zimroz

CONDITION MONITORING OF ROTATING MACHINERY UNDER VARYING OPERATING CONDITIONS BASED ON CYCLO-NON-STATIONARY INDICATORS AND A MULTI-ORDER PROBABILISTIC APPROACH FOR INSTANTANEOUS ANGULAR SPEED TRACKING ...... 4708 K. Gryllias, H. Andre, Q. Leclere, J. Antoni

NONNEGATIVE FACTORIZATION OF SPECTROGRAM FOR LOCAL DAMAGE DETECTION OF BELT CONVEYOR GEARBOXES ...... 4714 Jacek Wodecki, Rafal Zdunek, Agnieszka Wylomanska, Radoslaw Zimroz

PROGNOSTIC ALGORITHMS DESIGN BASED ON PREDICTIVE BAYESIAN CRAMÉR-RAO LOWER BOUNDS*...... 4719 David E. Acuña, Marcos E. Orchard

REMAINING USEFUL BATTERY LIFE PREDICTION FOR UAVS BASED ON MACHINE LEARNING* ...... 4727 Sina Sharif Mansouri, Petros Karvelis, George Georgoulas, George Nikolakopoulos

TOPOLOGY COMPARISON FOR 48V BATTERY-SUPERCAPACITOR HYBRID ENERGY STORAGE SYSTEM *...... 4733 Sunil Sreedhar, Jason B. Siegel, Saemin Choi

ESTIMATION OF BEST LINEAR APPROXIMATION FROM VARYING OPERATING CONDITIONS FOR THE IDENTIFICATION OF A LI-ION BATTERY MODEL*...... 4739 Rishi Relan, Koen Tiels, Jean-Marc Timmermans, Johan Schoukens

HYBRID FUEL CELL/BATTERY SOURCE SIZING AND ENERGY MANAGEMENT FOR AUTOMOTIVE APPLICATIONS...... 4745 B. Bendjedia, N. Rizoug, M. Boukhnifer, F. Bouchafaa

MODELING AND CONTROL OF CATHODE AIR HUMIDITY FOR PEM FUEL CELL SYSTEMS ...... 4751 Zhiyang Liu, Jian Chen, Shaoru Chen, Lianghui Huang, Zhigang Shao

PROGNOSTICS OF PROTON EXCHANGE MEMBRANE FUEL CELLS USING A MODEL-BASED METHOD ...... 4757 Hao Liu, Jian Chen, Chuyan Zhu, Hongye Su, Ming Hou

ON-LINE IDENTIFICATION OF A TORQUE CONVERTER MODEL ...... 4763 Kirti D. Mishra, Krishnaswamy Srinivasan

MODELING OF A PERMANENT MAGNET SYNCHRONOUS MOTOR OF AN E-SCOOTER FOR SIMULATION WITH BATTERY AGING MODEL...... 4769 Sabrina K. Rechkemmer, Weimin Zhang, Oliver Sawodny

ENERGY-EFFICIENT CONSTRAINED CONTROL OF A HYDROSTATIC POWER SPLIT DRIVE...... 4775 P. Zeman, W. Kemmetmüller, A. Kugi

HANDLING STATE CONSTRAINTS IN FAST-COMPUTING OPTIMAL CONTROL FOR HYBRID POWERTRAINS...... 4781 Jihun Han, Antonio Sciarretta, Nicolas Petit

CONTROL OF AN ELECTROMECHANICAL CLUTCH ACTUATOR BY A PARALLEL ADAPTIVE FEEDFORWARD AND BANG-BANG CONTROLLER: SIMULATION AND EXPERIMENTAL RESULTS ...... 4787 Robin Temporelli, Philippe Micheau, Maxime Boisvert

SIMPLIFIED ENERGY-EFFICIENT ADAPTIVE CRUISE CONTROL BASED ON MODEL PREDICTIVE CONTROL *...... 4794 Xiaohai Lin, Daniel Görges, Andreas Weißmann

OPTIMAL GEAR SHIFT STRATEGY FOR DUAL CLUTCH TRANSMISSIONS* ...... 4800 M. A. Golkani, M. Steinberger, M. Bachinger, J. Rumetshofer, M. Stolz, M. Horn

PATH FOLLOWING CONTROL FOR ELASTIC JOINT ROBOTS* ...... 4806 B. Bischof, T. Glück, M. Böck, A. Kugi

TOWARDS DISCRETE MECHANICS AND OPTIMAL CONTROL FOR COMPLEX MODELS* ...... 4812 Paul Manns, Katja Mombaur

A NEW ROBUST CONTROLLER FORMULATION FOR THE FULL–STATE FEEDBACK POSITION TRACKING OF A SMALL–SCALED UNMANNED MODEL HELICOPTER...... 4819 Baris Bidikli, Enver Tatlicioglu, Erkan Zergeroglu

DATA-DRIVEN PROGRESSIVE AND ITERATIVE LEARNING CONTROL* ...... 4825 Cheng-Wei Chen, Tsu-Chin Tsao

ON PRESCRIBED CONTACT ESTABLISHMENT* ...... 4831 George S. Kanakis, George A. Rovithakis, Zoe Doulgeri

PSEUDO-MAGNETIC CENTRE IDENTIFICATION OF AN ACTIVE MAGNETIC BEARING FOR SENSORLESS DRIVE CONTROL START-UP...... 4837 Gert L. Kruger, George Van Schoor, Pieter A. Van Vuuren

CONTINUATION FOR STABILITY DOMAIN DETERMINATION WITH APPLICATION TO A CABLE- DRIVEN PARALLEL ROBOT...... 4843 Quentin Peyron, Isabelle Charpentier, Edouard Laroche

ROBUST CONTROL OF TWIN ROTOR MIMO SYSTEM WITH QUANTIZED OUTPUT *...... 4849 Alexey Margun, Igor Furtat, Artem Kremlev

A THERMODYNAMICALLY CONSISTENT PORT-HAMILTONIAN MODEL FOR DIELECTRIC ELASTOMER MEMBRANE ACTUATORS AND GENERATORS...... 4855 G. Rizzello, D. Naso, S. Seelecke

PERFORMANCE IMPROVEMENT OF A CLASS OF CONTINUUM MANIPULATORS VIA ADAPTIVE ALGORITHMS ...... 4863 A. Melingui, J. J. B. Mvogo Ahanda, O. Lakhal, J. B. Mbede, R. Merzouki

MIXED H2/H∞ TRACKING CONTROL WITH CONSTRAINTS FOR SINGLE QUADCOPTER CARRYING A CABLE-SUSPENDED PAYLOAD ...... 4869 Minhuan Guo, Yan Su, Dongbing Gu

STRUCTURAL CHANGES IN ECONOMIC GROWTH MODELS* ...... 4875 Alexander M. Tarasyev, Anastasiia A. Usova, Victoria F. Turygina

OPTIMIZATION OF FRACTIONAL AND INTEGER ORDER PID PARAMETERS USING BIG BANG BIG CRUNCH AND GENETIC ALGORITHMS FOR A MAGLEV SYSTEM...... 4881 Gokhan Altintas, Yucel Aydin

SPORADIC MODEL PREDICTIVE CONTROL ...... 4887 Alberto Leva, Federico Mattia Benzi, Virna Magagnotti, Giulia Vismara

OPTIMAL THERMAL REGULATION OF A REAL DATA CENTRE...... 4893 V. A. Tsachouridis, P. Sobonski, H. Wiese, D. Mehta, K. Kouramas, M. Cychowski

BATCH DISTILLATION OF BINARY MIXTURES: PRELIMINARY ANALYSIS OF OPTIMAL CONTROL ...... 4899 Marija Stojkovic, Vincent Gerbaud, Nataliya Shcherbakova

A JACOBI DECOMPOSITION ALGORITHM FOR DISTRIBUTED CONVEX OPTIMIZATION IN DISTRIBUTED MODEL PREDICTIVE CONTROL* ...... 4905 Minh Dang Doan, Moritz Diehl, Tamas Keviczky, Bart De Schutter

TIME-INVARIANT CONTROL IN LQ OPTIMAL TRACKING: AN ALTERNATIVE TO OUTPUT REGULATION...... 4912 Sebastian Bernhard

RELATIONS BETWEEN MODEL PREDICTIVE CONTROL AND REINFORCEMENT LEARNING ...... 4920 Daniel Görges

NEAR TIME-OPTIMAL PATH TRACKING METHOD FOR WAITER MOTION PROBLEM...... 4929 Gábor Csorvási, Ákos Nagy, István Vajk

LOW ERROR OPERATION IN OPEN LOOP: NONLINEAR SYSTEMS WITH TIME DELAY*...... 4935 Ho-Lim Choi, Jacob Hammer

NON-GAUSSIAN ASSESSMENT OF THE BENEFITS FROM IMPROVED CONTROL ...... 4941 Pawel D. Domanski

A NEW MINIMUM VARIANCE OBSERVER FOR STOCHASTIC LPV SYSTEMS WITH UNKNOWN INPUTS*...... 4947 L. Meyer, D. Ichalal, V. Vigneron, C. Vasiljevic, J. Oswald

RELATIONSHIP BETWEEN CAUSALITY OF STOCHASTIC PROCESSES AND ZERO BLOCKS OF THEIR JOINT INNOVATION TRANSFER MATRICES...... 4954 Mónika Józsa, Mihály Petreczky, M. Kanat Camlibel

AN OPTIMAL EXECUTION PROBLEM IN FINANCE WITH ACQUISITION AND LIQUIDATION OBJECTIVES: AN MFG FORMULATION*...... 4960 Dena Firoozi, Peter E. Caines

A DIRECT COUPLING COHERENT QUANTUM OBSERVER FOR A QUBIT, INCLUDING OBSERVER MEASUREMENTS...... 4968 Ian R. Petersen, Elanor H. Huntington

RANDOMIZED CONSTRAINTS CONSENSUS FOR DISTRIBUTED ROBUST LINEAR PROGRAMMING*...... 4973 Mohammadreza Chamanbaz, Giuseppe Notarstefano, Roland Bouffanais

SECURE STATE ESTIMATION OF CYBER-PHYSICAL SYSTEMS UNDER SWITCHING ATTACKS ...... 4979 N. Forti, G. Battistelli, L. Chisci, B. Sinopoli

ON AN OPTIMAL PRODUCTION-INVENTORY PLAN FOR A CLOSED LOOP SUPPLY CHAIN...... 4987 Oscar Salviano, Frederic Andres

OPTIMAL CONTROL REPRESENTATION OF THE MATHEMATICAL PROGRAMMING MODEL FOR SUPPLY CHAIN DYNAMIC RECONFIGURATION ...... 4994 Dmitry Ivanov, Alexandre Dolgui, Boris Sokolov, Marina Ivanova

LOT SIZE DEPENDENCE FOR ENERGY CONSUMPTION PER UNIT OF PRODUCTION THROUGHPUT CONSIDERING RUSH ORDERS IN MANUFACTURING LINES...... 5000 Takayuki Kobayashi, Makoto Yamaguchi, Hironori Hibino

CLIENT SELECTION AND COMBINATION FOR FARM PERISHABLE PRODUCTS ...... 5006 Nicolas Brulard, Van-Dat Cung, Nicolas Catusse

CYCLIC JOB SHOP PROBLEM WITH VARYING PROCESSING TIMES ...... 5012 Idir Hamaz, Laurent Houssin, Sonia Cafieri

ORDER PICKING PROBLEM IN A WAREHOUSE HOSPITAL PHARMACY...... 5017 B. Beroule, O. Grunder, O. Barakat, O. Aujoulat

SOLVING DIAGNOSABILITY OF HYBRID SYSTEMS VIA ABSTRACTION AND DISCRETE EVENT TECHNIQUES ...... 5023 Alban Grastien, Louise Travé-Massuyès, Vicenç Puig

DES BASED MODELING AND FAULT DIAGNOSIS IN SAFETY-CRITICAL SEMI-PARTITIONED REAL- TIME SYSTEMS...... 5029 Piyoosh Purushothaman Nair, Rajesh Devaraj, Argha Sen, Arnab Sarkar, Santosh Biswas

ENHANCED CHRONICLE LEARNING FOR PROCESS SUPERVISION...... 5035 J. W. Vásquez, L. Travé-Massuyès, A. Subias, F. Jimenez

OBSERVER-BASED SENSOR FAULT DETECTABILITY: ABOUT ROBUST POSITIVE INVARIANCE APPROACH AND RESIDUAL SENSITIVITY*...... 5041 Abid Rahman Kodakkadan, Masoud Pourasghar, Vicenç Puig, Sorin Olaru, Carlos Ocampo-Martinez, Vasso Reppa

MODEL BASED OBJECT LOCALIZATION AND SHAPE ESTIMATION USING ELECTRIC SENSE ON UNDERWATER ROBOTS...... 5047 Stéphane Bazeille, Vincent Lebastard, Sylvain Lanneau, Frédéric Boyer

ZONOTOPIC FAULT ESTIMATION FILTER DESIGN FOR DISCRETE-TIME DESCRIPTOR SYSTEMS * ...... 5055 Ye Wang, Zhenhua Wang, Vicenç Puig, Gabriela Cembrano

ACTUATOR FAULT DETECTION AND INTERVAL RECONSTRUCTION BASED ON INTERVAL OBSERVERS*...... 5061 Shenghui Guo, Fanglai Zhu

INCIPIENT FAULT DETECTION BASED ON ROBUST THRESHOLD GENERATORS: A SLIDING MODE INTERVAL ESTIMATION APPROACH*...... 5067 Kangkang Zhang, Bin Jiang, Xing-Gang Yan, Jun Shen, Xiao He

INTERVAL OBSERVER DESIGN FOR DISCRETE-TIME SWITCHED SYSTEM* ...... 5073 Shenghui Guo, Fanglai Zhu

SIMPLE INTERVAL OBSERVERS FOR LINEAR IMPULSIVE SYSTEMS WITH APPLICATIONS TO SAMPLED-DATA AND SWITCHED SYSTEMS ...... 5079 Corentin Briat, Mustafa Khammash

INTERVAL OBSERVER APPROACH TO OUTPUT STABILIZATION OF LINEAR IMPULSIVE SYSTEMS...... 5085 Kwassi H. Degue, Denis Efimov, Jerome Le Ny

OPTIMAL CONTROL OF A DUBINS CAR WITH A CAPTURE SET AND THE HOMICIDAL CHAUFFEUR DIFFERENTIAL GAME * ...... 5091 S. Coates, M. Pachter, R. Murphey

DISTRIBUTED OPTIMAL OUTPUT FEEDBACK CONTROL OF HETEROGENEOUS MULTI-AGENT SYSTEMS UNDER A DIRECTED GRAPH ...... 5097 Farzad Aalipour, Azwirman Gusrialdi, Zhihua Qu

NUMERICAL COMPUTATIONAL IMPROVEMENT OF THE STABLE-MANIFOLD METHOD FOR NONLINEAR OPTIMAL CONTROL*...... 5103 Yasuaki Oishi, Noboru Sakamoto

FINITE-DIMENSIONAL APPROXIMATIONS OF NEUTRAL-TYPE CONFLICT-CONTROLLED SYSTEMS ...... 5109 Mikhail Gomoyunov, Anton Plaksin

OPTIMAL FEEDFORWARD PREVIEW CONTROL BY FIR FILTERS ...... 5115 Johannes N. Strohm, Boris Lohmann

DISCRETE TIME QUASI SLIDING MODE CONTROL FOR PIEZO-ACTUATED POSITIONING SYSTEMS: A PRESCRIBED PERFORMANCE CONTROL APPROACH ...... 5121 L. M. Nguyen, X. Chen

SLIDING MODE CONTROL FOR NONLINEAR MANIPULATOR SYSTEMS ...... 5127 Beibei Zhang, Xiao Yang, Dongya Zhao, Sarah K. Spurgeon, Xinggang Yan

SLIDING MODE BASED EXTREMUM SEEKING CONTROL OF TWO-PHASE FLOW MICRO-THERMAL- FLUID COOLING SYSTEMS ...... 5133 Fernando Lizarralde, João C. Monteiro, Rafael Pereira, Liu Hsu

FIXED-TIME CONVERGING TERMINAL SURFACE WITH NON-SINGULAR CONTROL DESIGN FOR SECOND-ORDER SYSTEMS...... 5139 J. P. Mishra, Chaoji Li, Xinghuo Yu, Mahdi Jalili

A REMARK ON SLIDING MODE DIFFERENTIATION AND CALCULUS OF VARIATION ...... 5144 Mamadou Mboup

OUTPUT FEEDBACK STABILIZATION OF INERTIAL STABILIZED PLATFORM WITH UNMATCHED DISTURBANCES USING SLIDING MODE APPROACH* ...... 5149 Jianliang Mao, Jun Yang, Shihua Li, Qi Li

STABILIZING THE INDUSTRIAL SYSTEM: MANAGED SECURITY SERVICES’ CONTRIBUTION TO CYBER-PEACE ...... 5155 Christoph Jansen

ECONOMY OF DISASSEMBLY ...... 5161 P. Kopacek, B. Kopacek

THE SLOVENIAN DICTIONARY OF AUTOMATIC CONTROL, SYSTEMS AND ROBOTICS*...... 5166 Juš Kocijan, Gorazd Karer, Mojca Žagar Karer, Tadej Bajd, Rihard Karba

A DISTRIBUTED ALGORITHM WITH CONSISTENCY FOR PAGERANK-LIKE LINEAR ALGEBRAIC SYSTEMS*...... 5172 Constantino M. Lagoa, Luca Zaccarian, Fabrizio Dabbene

ANALYSIS OF CLUSTERS IN NETWORK GRAPHS FOR PERSONALIZED WEB SEARCH ...... 5178 Natalia M. Markovich

RELATIVE TEMPO OF CONSENSUS DYNAMICS ON MULTIPLEX NETWORKS ...... 5184 Haibin Shao, Yugeng Xi, Mehran Mesbahi, Dewei Li, Yuli Xu, Zhongxue Gan

EVENT-TRIGGERED DYNAMIC QUANTIZERS FOR NETWORKED CONTROL SYSTEMS...... 5190 Juan Rodriguez Ramirez, Yuki Minami, Kenji Sugimoto

H∞ PERFORMANCE OF MECHANICAL AND POWER NETWORKS...... 5196 Mohammad Pirani, Ehsan Hashemi, Baris Fidan, John W. Simpson-Porco

ROBUST PERIODIC ECONOMIC PREDICTIVE CONTROL BASED ON INTERVAL ARITHMETIC FOR WATER DISTRIBUTION NETWORKS ...... 5202 Ye Wang, Joaquim Blesa, Vicenç Puig

ALEKSANDR LYAPUNOV: REMEMBERED BY HIS CONTEMPORARIES ...... 5208 N. A. Pakshina

STABILITY, AS TOLD BY ITS DEVELOPERS * ...... 5219 Antonio Loria, Elena Panteley

SCIENTIFIC SCHOOL OF VLADIMIR YAKUBOVICH IN THE 20TH CENTURY ...... 5231 Alexander L. Fradkov

ICING DIAGNOSIS IN UNMANNED AERIAL VEHICLES USING AN LPV MULTIPLE MODEL ESTIMATOR*...... 5238 Damiano Rotondo, Andrea Cristofaro, Vahid Hassani, Tor Arne Johansen

FAULT-TOLERANT GUIDANCE FOR HYPERSONIC VEHICLE BASED ON PREDICTOR-CORRECTOR STRATEGY ...... 5244 Yizhen Meng Bin Jiang, Ruiyun Qi

FAULT-TOLERANT TRACKING CONTROL FOR A 3-DOF HELICOPTER WITH ACTUATOR FAULTS AND SATURATION...... 5250 Jianglin Lan, Ron J. Patton, Elisabetta Punta

NUSSBAUM GAIN ADAPTIVE FAULT TOLERANT CONTROL FOR HYPERSONIC VEHICLES WITH UNCERTAIN PARAMETERS AND ACTUATOR FAULTS *...... 5256 Binyan Xu, Ruiyun Qi, Bin Jiang, Xuelian Yao

FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF AN OCTOROTOR UAV USING MOTORS SPEEDS MEASUREMENTS...... 5263 Majd Saied, Benjamin Lussier, Isabelle Fantoni, Hassan Shraim, Clovis Francis

FAULT-TOLERANT ADAPTIVE CONTROL ALLOCATION FOR UNMANNED MULTIROTOR HELICOPTER* ...... 5269 Ban Wang, Youmin Zhang, Jean-Christophe Ponsart, Didier Theilliol

TRAFFIC FLOW OPTIMIZATION WITH QOS CONSTRAINED NETWORK ADMISSION CONTROL*...... 5275 Alfréd Csikós, Hamed Farhadi, Balázs Kulcsár, Themistoklis Charalambous, Henk Wymeersch

NONLINEAR FEEDBACK CONTROL FOR GENERAL ACYCLIC TRAFFIC NETWORKS...... 5281 Maria Kontorinaki, Iasson Karafyllis, Markos Papageorgiou

DELAY VARIABILITY OPTIMIZATION USING SHOCKWAVE THEORY AT AN UNDERSATURATED INTERSECTION ...... 5289 Reza Mohajerpoor, Meead Saberi, Mohsen Ramezani

DISTRIBUTED ADAPTIVE PERIMETER CONTROL FOR LARGE-SCALE URBAN ROAD NETWORKS WITH DELAYED STATE INTERCONNECTIONS* ...... 5295 Zhengfei Zheng, Jack Haddad

A DECENTRALIZED TRAFFIC LIGHT CONTROL SYSTEM BASED ON ADAPTIVE LEARNING* ...... 5301 Junchen Jin, Xiaoliang Ma

COORDINATED VARIABLE SPEED LIMIT, RAMP METERING AND LANE CHANGE CONTROL OF HIGHWAY TRAFFIC...... 5307 Yihang Zhang, Petros A. Ioannou

ASPR BASED OUTPUT FEEDBACK CONTROL WITH AN ADAPTIVE PREDICTIVE FEEDFOWARD INPUT FOR MIMO SYSTEMS ...... 5313 Ikuro Mizumoto, Seiya Fujii

ADAPTIVE OUTPUT FEEDBACK BASED OUTPUT TRACKING CONTROL WITH ADAPTIVE PARALLEL FEEDFORWARD COMPENSATOR ...... 5319 Ikuro Mizumoto, Nobuyuki Kawabe

DIRECT TUNING IN FEEDBACK ERROR LEARNING CONTROL AND ITS GENERALIZATION TO NON- MINIMUM PHASE PLANT*...... 5326 Kenji Sugimoto, Wataru Imahayashi

AUTOTUNER IDENTIFICATION OF TITO SYSTEMS USING A SINGLE RELAY FEEDBACK EXPERIMENT ...... 5332 Josefin Berner, Kristian Soltesz, Tore Hägglund, Karl Johan Åström

AN INTELLIGENT MODELING APPROACH FOR LPV SYSTEMS BASED ON PRIMARY-SECONDARY RESPONSE MECHANISM OF IMMUNE SYSTEM ...... 5338 Lei Chen, Yongsheng Ding, Kuangrong Hao, Lihong Ren

PART 9

BUMPLESS REENGAGEMENT USING SHARED CONTROL BETWEEN HUMAN PILOT AND ADAPTIVE AUTOPILOT ...... 5343 Amir B. Farjadian, Anuradha M. Annaswamy, David Woods

MODELING WATER HAMMERS VIA PDES AND SWITCHED DAES WITH NUMERICAL JUSTIFICATION...... 5349 Jochen Kall, Rukhsana Kausar, Stephan Trenn

ASYMPTOTIC SET-POINT REGULATION FOR A LARGE CLASS OF NON-LINEAR HYDRAULIC NETWORKS...... 5355 Tom Nørgaard Jensen, Carsten Skovmose Kallesøe, Rafal Wisniewski

FRICTION ESTIMATION OF PIPELINES WITH EXTRACTIONS BY USING STATE OBSERVERS*...... 5361 Javier Jiménez, Lizeth Torres, Cristina Verde, Marco Sanjuán

PRESSURE REGULATION IN LARGE SCALE HYDRAULIC NETWORKS WITH INPUT CONSTRAINTS* ...... 5367 Tjardo Scholten, Sebastian Trip, Claudio De Persis

OUTER APPROXIMATION METHODS FOR THE SOLUTION OF CO-DESIGN OPTIMISATION PROBLEMS IN WATER DISTRIBUTION NETWORKS * ...... 5373 Filippo Pecci, Edo Abraham, Ivan Stoianov

OPTIMAL MANAGEMENT OF BARCELONA WATER DISTRIBUTION NETWORK USING NON-LINEAR MODEL PREDICTIVE CONTROL* ...... 5380 Y. Wang, G. Cembrano, V. Puig, M. Urrea, J. Romera, D. Saporta, J. G. Valero, J. Quevedo

MODELING AND IDENTIFICATION OF IRRIGATION CHANNEL DYNAMICS AFFECTED BY WIND...... 5386 Marzia Cescon, Erik Weyer

SWITCHING MARKOV CHAINS FOR MODELLING THE LOADS OF A FOUR-ROTOR SWATHER UNDER DIFFERENT OPERATING MODES...... 5392 Dimitris S. Paraforos, Hans W. Griepentrog

DATA DRIVEN BROILER WEIGHT FORECASTING USING DYNAMIC NEURAL NETWORK MODELS...... 5398 Simon V. Johansen, Jan D. Bendtsen, Martin R.-Jensen, Jesper Mogensen

A LOW-COST EMBEDDED CONTROLLER DESIGN FOR SELECTIVE SPRAYING VEHICLE* ...... 5404 A. Pawlowski, J. L. Guzmán, J. Sánchez-Hermosilla, C. Rodríguez, S. Dormido

AUGMENTED REALITY IN FOREST MACHINE CABIN...... 5410 Tuomo Palonen, Heikki Hyyti, Arto Visala

DISTRIBUTED STATE ESTIMATION FOR INTERCONNECTED SYNCHRONOUS GENERATORS ...... 5418 Md Masud Rana, Li Li, Steven W. Su

VIRTUAL SYNCHRONOUS GENERATOR STRATEGY FOR VSC-MTDC AND THE PROBABILISTIC SMALL SIGNAL STABILITY ANALYSIS ...... 5424 Wang Weiyu, Liu Fang, Tan Yi, Huang Jinhua, Tang Shengwei, Li Yong, Cao Yijia

DISTRIBUTED DESIGN OF LOCAL CONTROLLERS FOR TRANSIENT STABILIZATION IN POWER GRIDS...... 5430 Hampei Sasahara, Takayuki Ishizaki, Tomonori Sadamoto, Jun-Ichi Imura

DISTRIBUTED STABILIZATION OF MULTI-MACHINE POWER SYSTEMS VIA MULTI-AGENT FLOCKING CONTROL ...... 5436 Jun Zhou, Cui Wang

INPUT-OUTPUT PROPERTIES OF THE SWING DYNAMICS FOR POWER TRANSMISSION NETWORKS WITH HVDC MODULATION* ...... 5442 Kasra Koorehdavoudi, Sandip Roy, Thibault Prevost, Florent Xavier, Florent Xavier, Patrick Panciatici, Vaithianathan Venkatasubramanian

MODELING AND ANALYSIS METHODS FOR ASSESSING STABILITY OF MICROGRIDS ...... 5448 Marija Ilic, Rupamathi Jaddivada, Xia Miao

REAL-TIME, MINIMALLY INVASIVE, BEAT-TO-BEAT ESTIMATION OF END-SYSTOLIC VOLUME USING A MODIFIED END-SYSTOLIC PRESSURE-VOLUME RELATION ...... 5456 Shaun M. Davidson, Chris Pretty, Shun Kamoi, Joel Balmer, Thomas Desaive, J. Geoffrey Chase

MEAL DETECTION IN THE ARTIFICIAL PANCREAS: IMPLICATIONS DURING EXERCISE*...... 5462 Charrise M. Ramkissoon, Pau Herrero, Jorge Bondia, Josep Vehi

PREDICTING THE EFFECTS OF CHANGING PEEP USING A BASIS FUNCTION METHOD...... 5468 Finbar J. Argus, Conor J. Sutherland, Jimmy Chakson, Eugene McNearney, Jennifer Dickson, Daniel Redmond, Kyeong Kim, Paul D. Docherty, J. Geoffrey Chase

THE NOVEL DIMENSIONAL REDUCTION METHOD AND TIKHONOV REGULARISATION IN PARAMETER IDENTIFICATION OF NON-LINEAR ILL-POSED PROBLEMS...... 5474 Shaun M. Davidson, Paul D. Docherty, Jörn Kretschmer, Rua Murray

PLATEAU PRESSURE PREDICTION IN ARDS PATIENTS ...... 5480 R. Langdon, P. D. Docherty, C. Schranz, J. G. Chase

QUANTIFYING PATIENT EFFORT IN SPONTANEOUSLY BREATHING PATIENT USING NEGATIVE COMPONENT OF DYNAMIC ELASTANCE ...... 5486 Kyeong Tae Kim, Daniel P. Redmond, Sophie E. Morton, Sarah L. Howe, Yeong Shiong Chiew, J. Geoffrey Chase

ADAPTIVE CONTROL ALLOCATION FOR OVER-ACTUATED SYSTEMS WITH ACTUATOR SATURATION * ...... 5492 S. S. Tohidi, Y. Yildiz, I. Kolmanovsky

ADAPTIVE OUTPUT REGULATION OF INVERTIBLE MIMO SYSTEMS...... 5498 Anton Pyrkin, Alberto Isidori

ADAPTIVE FEEDFORWARD AND FEEDBACK CONTROL FOR CLOUD SERVICES ...... 5504 Sophie Cerf, Mihaly Berekmeri, Bogdan Robu, Nicolas Marchand, Sara Bouchenak, Ioan D. Landau

L1 ADAPTIVE OUTPUT FEEDBACK CONTROL FOR UNDERACTUATED MIMO SYSTEMS...... 5510 Hanmin Lee, Venanzio Cichella, Naira Hovakimyan

ADAPTIVE BIPARTITE TRACKING CONTROL OF NONLINEAR MULTI-AGENT SYSTEMS WITH UNKNOWN HYSTERESIS* ...... 5516 Tao Yu, Lei Ma, Hongwei Zhang, Yijing Wang

EXTREMUM SEEKING FOR TIME-VARYING FUNCTIONS USING LIE BRACKET APPROXIMATIONS * ...... 5522 Victoria Grushkovskaya, Hans-Bernd Dürr, Christian Ebenbauer, Alexander Zuyev

SCENARIO-BASED APPROACHES FOR HANDLING UNCERTAINTY IN MPC FOR POWER SYSTEM FREQUENCY CONTROL* ...... 5529 Anne Mai Ersdal, Lars Imsland

DISTRIBUTED AC OPTIMAL POWER FLOW USING ALADIN * ...... 5536 Alexander Engelmann, Tillmann Mühlpfordt, Yuning Jiang, Boris Houska, Timm Faulwasser

EQUATION-BASED OBJECT-ORIENTED MODELLING AND SIMULATION OF LARGE-SCALE SMART GRIDS WITH MODELICA ...... 5542 Francesco Casella, Andrea Giorgio Bartolini, Alberto Leva

DECENTRALISED ROBUST INVERTER-BASED CONTROL IN POWER SYSTEMS*...... 5548 Richard Pates, Enrique Mallada

COORDINATED FUZZY LOGIC CONTROL STRATEGY FOR HYBRID PV ARRAY WITH FUEL-CELL AND ULTRA-CAPACITOR IN A MICROGRID ...... 5554 Guiying Wu, Kwang Y. Lee, Li Sun, Yali Xue

DECENTRALIZED COORDINATION OF CONTROLLED LOADS AND TRANSFORMERS IN A HIERARCHICAL STRUCTURE* ...... 5560 Suli Zou, Ian Hiskens, Zhongjing Ma

BACKSTEPPING DESIGN OF ROBUST STATE FEEDBACK REGULATORS FOR PARABOLIC PIDES WITH IN-DOMAIN OUTPUTS...... 5567 Joachim Deutscher

PARABOLIC MATCHING OF HYPERBOLIC SYSTEM USING CONTROL BY INTERCONNECTION ...... 5574 N. M. Trang Vu, V. Trenchant, H. Ramirez, L. Lefèvre, Y. Le Gorrec

ASYMPTOTIC STABILITY OF AN EULER-BERNOULLI BEAM COUPLED TO NON-LINEAR SPRING- DAMPER SYSTEMS *...... 5580 Yann Le Gorrec, Hans Zwart, Hector Ramirez

OUTPUT FEEDBACK EXPONENTIAL STABILIZATION OF A NONLINEAR 1-D WAVE EQUATION WITH BOUNDARY INPUT* ...... 5586 Hua-Cheng Zhou, George Weiss

CONTROLLABILITY IN PROJECTION OF THE SIMPLE SPECTRUM BILINEAR SCHRÖDINGER EQUATION ...... 5592 Marco Caponigro, Mario Sigalotti

BOUNDARY ENERGY-SHAPING CONTROL OF AN IDEAL COMPRESSIBLE ISENTROPIC FLUID IN 1-D...... 5598 Alessandro Macchelli, Yann Le Gorrec, Héctor Ramírez

GENERALIZATION OF TENSOR PRODUCT MODEL TRANSFORMATION FOR CONTROL DESIGN...... 5604 József Kuti, Péter Galambos, Péter Baranyi

COMPARISON OF TENSOR DECOMPOSITION METHODS FOR SIMULATION OF MULTILINEAR TIME- INVARIANT SYSTEMS WITH THE MTI TOOLBOX *...... 5610 Kai Kruppa

DECENTRALIZED STATE FEEDBACK DESIGN FOR MULTILINEAR TIME-INVARIANT SYSTEMS *...... 5616 Kai Kruppa, Gerwald Lichtenberg

FAULT DETECTION ALGORITHMS BASED ON DECOMPOSED TENSOR REPRESENTATIONS FOR QUALITATIVE MODELS* ...... 5622 Thorsten Müller-Eping, Gerwald Lichtenberg, Vivien Vogelmann

TENSOR DECOMPOSITIONS FOR MODELING INVERSE DYNAMICS...... 5630 Stephan Baier, Volker Tresp

GEOMETRICAL INTERPRETATION OF FEASIBILITY OF THE LYAPUNOV INEQUALITIES AND CONTROLLER GAIN MINIMIZATION FOR A CLASS OF POLYTOPIC SYSTEMS...... 5636 Patricia P. Grof, Yeung Yam

LOCALIZATION OF AN AUTONOMOUS RAIL-GUIDED ROBOT USING PARTICLE FILTER ...... 5642 Guilherme P. S. Carvalho, Ramon R. Costa

CONTROL OF WALL MOUNTING ROBOT ...... 5648 Christoffer Sloth, Rasmus Pedersen

A STOCHASTIC LEARNING APPROACH FOR CONSTRUCTION OF BRICK STRUCTURES WITH A GROUND ROBOT...... 5654 Sérgio R. Barros Dos Santos, Diego O. Dantas, Sidney N. Givigi, Luciano Buonocore, Areolino A. Neto, Cairo L. Nascimento

ROBUST CONTROL OF CONTINUUM ROBOTS USING INTERVAL ARITHMETIC...... 5660 Florian Hisch, Andrea Giusti, Matthias Althoff

TOWARDS HIGH ACCURACY ROBOT-ASSISTED SURGERY*...... 5666 Nadia Schillreff, Mykhaylo Nykolaychuk, Frank Ortmeier

A HIERARCHICAL OPTIMIZATION APPROACH TO ROBOT TELEOPERATION AND VIRTUAL FIXTURES RENDERING ...... 5672 Davide Nicolis, Andrea Maria Zanchettin, Paolo Rocco

MODELLING THE FLEXIBILITY OF PRODUCTION SYSTEMS IN INDUSTRY 4.0 FOR ANALYSING THEIR PRODUCTIVITY AND AVAILABILITY WITH HIGH-LEVEL PETRI NETS ...... 5680 F. Long, P. Zeiler, B. Bertsche

PROBABILISTIC APPROACH TO MODULAR ASSEMBLY ...... 5688 S. Shoval, Mahmoud Efatmaneshnik, Michael J. Ryan

MODULAR CONFIGURATION AND CONTROL CONCEPT FOR THE IMPLEMENTATION OF HUMAN- ROBOT-COOPERATION IN THE AUTOMOTIVE ASSEMBLY LINE ...... 5694 Matthias Scholer, Rainer Müller

ASSEMBLY SYSTEM DESIGN IN THE INDUSTRY 4.0 ERA: A GENERAL FRAMEWORK ...... 5700 Marco Bortolini, Emilio Ferrari, Mauro Gamberi, Francesco Pilati, Maurizio Faccio

STOCHASTIC ASSEMBLY LINE BALANCING WITH LEARNING EFFECTS...... 5706 F. Lolli, E. Balugani, R. Gamberini, B. Rimini

A TRANSFORMABLE MANUFACTURING CONCEPT FOR LOW-VOLUME AEROSPACE ASSEMBLY*...... 5712 Adrien Drouot, Lucas Irving, David Sanderson, Anthony Smith, Svetan Ratchev

IMPROVED DIRECTIONAL DERIVATIVES FOR MODIFIER-ADAPTATION SCHEMES ...... 5718 Martand Singhal, Alejandro G. Marchetti, Timm Faulwasser, Dominique Bonvin

FAST PROPORTIONAL INTEGRAL PHASOR EXTREMUM SEEKING CONTROL FOR A CLASS OF NONLINEAR SYSTEM* ...... 5724 Khalid Tourkey Atta, Martin Guay.

REAL-TIME OPTIMIZATION OF A NOVEL HYDROFORMYLATION PROCESS BY USING TRANSIENT MEASUREMENTS IN MODIFIER ADAPTATION ...... 5731 Weihua Gao, Reinaldo Hernández, Sebastian Engell

USE OF TRANSIENT MEASUREMENTS FOR STATIC REAL-TIME OPTIMIZATION...... 5737 Tafarel De Avila Ferreira, Grégory François, Alejandro G. Marchetti, Dominique Bonvin

DISTRIBUTED MODIFIER ADAPTATION USING A COORDINATOR AND MEASURED INTERCONNECTION VARIABLES ...... 5743 Predrag Milosavljevic, René Schneider, Timm Faulwasser, Dominique Bonvin

A MINMAX EXTREMUM-SEEKING CONTROLLER DESIGN TECHNIQUE ...... 5749 Martin Guay, Nicolas Hudon

PATH TRACKING FOR A SKID-STEER VEHICLE USING MODEL PREDICTIVE CONTROL WITH ON- LINE SPARSE GAUSSIAN PROCESS...... 5755 Taewan Kim, Wonchul Kim, Seungwon Choi, H. Jin Kim

ROBUST SELF-SCHEDULED FAULT-TOLERANT CONTROL OF A QUADROTOR UAV...... 5761 Duc-Tien Nguyen, David Saussié, Lahcen Saydy

VEHICLE PLATOONING WITH MULTIPLE VEHICLE LOOK-AHEAD INFORMATION ...... 5768 S. Konduri, P. R. Pagilla, S. Darbha

ADAPTIVE CRUISE CONTROL WITH SAFETY GUARANTEES FOR AUTONOMOUS VEHICLES...... 5774 Silvia Magdici, Matthias Althoff

TARGET TRACKING VIA A CIRCULAR FORMATION OF UNICYCLES* ...... 5782 Lara Briñón-Arranz, Alexandre Seuret, António Pascoal

A 3D DECENTRALIZED GUIDANCE AND CONTROL SYSTEM FOR A SWARM OF MULTI-COPTERS ...... 5788 Gaetano Tartaglione, Marco Ariola, Egidio D’Amato, Pierluigi Salvo Rossi

SUPREMICA–AN EFFICIENT TOOL FOR LARGE-SCALE DISCRETE EVENT SYSTEMS ...... 5794 Robi Malik, Knut Åkesson, Hugo Flordal, Martin Fabian

A MIXED-BOOLEAN HYBRID MATHEMATICAL MODEL WITH DISCONTINUOUS STATES...... 5800 R. Margetts

A TOOL SUPPORT TO DISTRIBUTED CONTROL SYNTHESIS AND GRAFCET IMPLEMENTATION FOR DISCRETE EVENT MANUFACTURING SYSTEMS...... 5806 Y. Qamsane, M. El Hamlaoui, A. Tajer, A. Philippot

FORMAL FRAMEWORK FOR DISCRETE-EVENT SIMULATION ...... 5812 Vincent Albert, Clément Foucher

SEQUENCE PLANNER: SUPPORTING INTEGRATED VIRTUAL PREPARATION AND COMMISSIONING...... 5818 M. Dahl, K. Bengtsson, P. Bergagård, M. Fabian, P. Falkman

RMTOOL: RECENT ENHANCEMENTS* ...... 5824 Luis Parrilla, Cristian Mahulea, Marius Kloetzer

ULTRADES - A LIBRARY FOR MODELING, ANALYSIS AND CONTROL OF DISCRETE EVENT SYSTEMS*...... 5831 Lucas V. R. Alves, Lucas R. R. Martins, Patrícia N. Pena

USING A VIRTUAL PLANT TO SUPPORT THE DEVELOPMENT OF INTELLIGENT GATEWAY FOR SENSORS/ACTUATORS SECURITY...... 5837 Thomas Toublanc, Sébastien Guillet, Florent De Lamotte, Pascal Berruet, Vianney Lapotre

IDENTIFYTPN: A TOOL FOR THE IDENTIFICATION OF TIME PETRI NETS...... 5843 F. Basile, P. Chiacchio, J. Coppola

A TOOL FOR DEADLOCK ANALYSIS OF PARAMETERIZED-CHAIN NETWORKS ...... 5849 M. Moodi, M. H. Zibaeenejad, J. G. Thistle

DYNAMIC SOFTWARE UPDATE OF STATEFLOW CHARTS USING ERLANG RUNTIME SYSTEM ...... 5855 Sebastian Q. Roder, Julien Provost

A NEW APPROACH OF DYNAMIC FUZZY COGNITIVE KNOWLEDGE NETWORKS IN MODELLING DIAGNOSING PROCESS OF MENISCUS INJURY* ...... 5861 Antigoni P. Anninou, Peter P. Groumpos, Panagiotis Poulios, Ioannis Gkliatis

FORMAL VERIFICATION FOR EMBEDDED IMPLEMENTATION OF CONVEX OPTIMIZATION ALGORITHMS ...... 5867 Raphael Cohen, Guillaume Davy, Eric Feron, Pierre-Loïc Garoche

TIMING ANALYSIS TOOLS IN A MODEL-DRIVEN DEVELOPMENT ENVIRONMENT* ...... 5875 Jorge Garrido, Juan A. De La Puente, Juan Zamorano, Miguel A. De Miguel, Alejandro Alonso

SCHEDULING AND CONTROL CO-DESIGN FOR CONTROL SYSTEMS UNDER COMPUTATIONAL CONSTRAINTS* ...... 5881 Yun-Bo Zhao, Hui Dong, Hongjie Ni

ADAPTING THE CONCEPT OF TECHNICAL DEBT TO SOFTWARE OF AUTOMATED PRODUCTION SYSTEMS FOCUSING ON FAULT HANDLING, MODE OF OPERATION AND SAFETY ASPECTS...... 5887 Birgit Vogel-Heuser, Eva-Maria Neumann

LQG-BASED CONTROL AND SCHEDULING CO-DESIGN * ...... 5895 Yang Xu, Karl-Erik Årzén, Enrico Bini, Anton Cervin

APPROXIMATE INVERSES IN PRECONDITIONED FAST DUAL GRADIENT METHODS FOR MPC...... 5901 Emil Klintberg, Sebastien Gros

SECURE AUTHENTICATION IN CPS-BASED PRODUCTION ENVIRONMENTS ...... 5907 Fabian Quint, Marius Orfgen, Mathias Schmitt, Stephan Weyer

DECENTRALIZED ENERGY SHARING PROTOCOL USING TÆMS FRAMEWORK AND COALITION- BASED METAHEURISTIC FOR HETEROGENEOUS ROBOTIC SYSTEMS*...... 5914 Barbara Arbanas, Sara Boljuncic, Tamara Petrovic, Stjepan Bogdan

DYNAMIC QOS MANAGEMENT FOR FLEXIBLE MULTIMEDIA APPLICATIONS ...... 5920 A. Armentia, U. Gangoiti, D. Orive, M. Marcos

DISTRIBUTED REAL TIME TDMA SCHEDULING ALGORITHM FOR TREE TOPOLOGY WSNS...... 5926 Aasem Ahmad, Zdenek Hanzálek

COMPARATIVE STUDY OF ALGORITHMS FOR CLOUD MOTION ESTIMATION USING SKY-IMAGING DATA...... 5934 Ali Zaher, Stéphane Thil, Julien Nou, Adama Traoré, Stéphane Grieu

DISTRIBUTED MODEL PREDICTIVE CONTROL FOR INTERSECTION AUTOMATION USING A PARALLELIZED OPTIMIZATION APPROACH ...... 5940 Alexander Katriniok, Peter Kleibaum, Martina Joševski

CHARGING COST OPTIMIZATION FOR EV BUSES USING NEURAL NETWORK BASED ENERGY PREDICTOR ...... 5947 Subramanya P. Nageshrao, Jubin Jacob, Steven Wilkins

A COMPUTATIONALLY FAST ITERATIVE DYNAMIC PROGRAMMING METHOD FOR OPTIMAL CONTROL OF LOOSELY COUPLED DYNAMICAL SYSTEMS WITH DIFFERENT TIME SCALES * ...... 5953 Jonathan Lock, Tomas McKelvey

ROBUST VELOCITY ESTIMATION FOR RAILWAY VEHICLES*...... 5961 Öncü Ararat, Mehmet T. Söylemez

SAFE ACTIVE LEARNING AND SAFE BAYESIAN OPTIMIZATION FOR TUNING A PI-CONTROLLER...... 5967 Mark Schillinger, Benjamin Hartmann, Patric Skalecki, Mona Meister, Duy Nguyen-Tuong, Oliver Nelles

TOPOLOGY DISCOVERY PROTOCOL FOR TRAIN INAUGURATION IN WIRELESS TRAIN NETWORKS ...... 5973 Shin-Kwang Kang, Joonkyo Kim, Jaehyun Park

ANGULAR VELOCITY ESTIMATION FROM INCREMENTAL ENCODER MEASUREMENTS IN THE PRESENCE OF SENSOR IMPERFECTIONS*...... 5979 Missie Aguado-Rojas, William Pasillas-Lépine, Antonio Loría, Alexandre De Bernardinis

REDUCED COMPLEXITY SAFETY TESTING FOR ADAS & ADF ...... 5985 Jinwei Zhou, Luigi Del Re

RISK-AVERSE STOCHASTIC NONLINEAR MODEL PREDICTIVE CONTROL FOR REAL-TIME SAFETY- CRITICAL SYSTEMS ...... 5991 Seyed Amin Sajadi-Alamdari, Holger Voos, Mohamed Darouach

METHODOLOGY FOR ANALYSING THE NOX-NH3 TRADE-OFF FOR THE HEAVY-DUTY AUTOMOTIVE SCR CATALYST ...... 5998 Andreas Åberg, Anders Widd, Jens Abildskov, Jakob K. Huusom

DATA-DRIVEN MODEL PREDICTIVE CONTROL FOR LEAN NOX TRAP REGENERATION *...... 6004 Milad Karimshoushtari, Carlo Novara, Antonino Trotta

REAL-TIME PEDALING RATE ESTIMATION VIA WHEEL SPEED FILTERING...... 6010 Gianmarco Rallo, Simone Formentin, Matteo Corno, Sergio M. Savaresi

PART 10

TRAJECTORY PLANNING OF SOFT LINK ROBOTS WITH IMPROVED INTRINSIC SAFETY* ...... 6016 Arthur Lismonde, Valentin Sonneville, Olivier Brüls

PERIODIC DISTURBANCE REJECTION CONTROL BASED ON OBSERVER AND SWITCHING IN PHOTO-CONDUCTOR DRUM WITH PLANETARY GEAR SYSTEM ...... 6022 Hiromichi Matsuda, Motoharu Takahashi

CONTROL DESIGN FOR A PNEUMATIC ISOLATION TABLE INCLUDING DIFFERENT TIME DELAYS DEPENDENT ON CONTROL INPUT POLARITY ...... 6029 Satoshi Kumata, Kenta Narumi, Tomoharu IIda, Naoto Maruyama, Masaya Tanemura, Yuichi Chida

TORSIONAL VIBRATION CONTROL IN OILWELL DRILLING...... 6035 Yiming Zhao

A FRACTIONAL-ORDER CONTROLLER FOR SINGLE-LINK FLEXIBLE ROBOTS ROBUST TO SENSOR DISTURBANCES...... 6043 D. Feliu-Talegon, V. Feliu-Batlle

BOUNDARY CONTROL DESIGN FOR A FLEXIBLE MANIPULATOR WITH INPUT BACKLASH * ...... 6049 Mingfo Zou, Wei He, Xiuyu He, Minghao Zhao, Chuan Yang, Guang Li

MULTIDIMENSIONAL TRAJECTORIES GENERATION WITH VIBRATION SUPPRESSION CAPABILITIES: THE ROLE OF EXPONENTIAL B-SPLINES *...... 6054 Lorenzo Moriello, Luigi Biagiotti, Claudio Melchiorri

ROBUST SLIDING MODE CONTROL OF A ROTARY HOOK ...... 6060 Ho Duc Tho, Ryosuke Tasaki, Kazuhiko Terashima, Mitsuo Tsume, Kensuke Suzuki

DEVELOPMENT OF ONE-PIECE ZERO-COMPLIANCE MECHANISM FOR FORCE MEASUREMENT...... 6067 Takeshi Mizuno, Masaya Takasaki, Yuji Ishino

AN MR-COMPATIBLE STAGE FOR RESPIRATORY MOTION EMULATION...... 6073 James Simonelli, Yu-Hsiu Lee, Samantha Mikaiel, Cheng-Wei Chen, Xinzhou Li, Kyung Sung, David Lu, Holden Wu, Tsu-Chin Tsao

ULTRA-LIGHTWEIGHT SPACE ARM DELIAN: MECHATRONIC ANALYSIS AND JOINT CONTROL DESIGN...... 6079 Francesco Cavenago, Luca Bascetta, Gianantonio Magnani, Andrea Rusconi

SIMPLE PHYSICALLY PARAMETERIZED OBSERVER FOR VIBRATION SUPPRESSION CONTROL OF SCARA ROBOT WITH ELASTIC JOINTS ...... 6085 Junji Oaki, Yasunori Chiba

ON OPTIMAL FEEDFORWARD AND ILC: THE ROLE OF FEEDBACK FOR OPTIMAL PERFORMANCE AND INFERENTIAL CONTROL * ...... 6093 Jurgen Van Zundert, Tom Oomen

POLYNOMIAL J-SPECTRAL FACTORIZATION METHOD FOR OPTIMAL CONTROL OF DISCRETE- TIME SYSTEMS...... 6099 Drilon Bunjaku, Jovan D. Stefanovski, Georgi M. Dimirovski

DESENSITIZED OPTIMAL TRAJECTORY FOR MULTI-PHASE LUNAR LANDING...... 6105 S. Mathavaraj, Radhakant Padhi

MODELLING AND CONTROL OF BIG DATA FRAMEWORKS*...... 6110 Alberto Leva, Alessandro Vittorio Papadopoulos

AN ALGEBRAIC GEOMETRY APPROACH TO COMPUTE STRATEGICALLY EQUIVALENT BIMATRIX GAMES*...... 6116 Corrado Possieri, Joao P. Hespanha

SUBOPTIMAL ANISOTROPY-BASED CONTROL FOR LINEAR DISCRETE TIME VARYING SYSTEMS WITH NONCENTERED DISTURBANCES*...... 6122 Arkadiy Yu. Kustov, Victor N. Timin

STRONG LOCAL OPTIMALITY FOR BANG-BANG-SINGULAR EXTREMALS IN SINGLE INPUT CONTROL PROBLEMS ...... 6128 Laura Poggiolini, Gianna Stefani

STABILITY CRITERION FOR NONSMOOTH SYSTEMS AND NASH EQUILIBRIUM SEEKING VIA PROJECTED GRADIENT DYNAMICS *...... 6134 Shu Liang, Xianlin Zeng, Yiguang Hong

AN EFFICIENT REGRESSION APPROACH TO SOLVING THE DUAL PROBLEMS OF DYNAMIC PROGRAMS*...... 6140 Helin Zhu, Fan Ye, Enlu Zhou

ON INFINITE DIMENSIONAL LINEAR PROGRAMMING APPROACH TO STOCHASTIC CONTROL* ...... 6148 Maryam Kamgarpour, Tyler Summers

THE IMPACT OF THE VIRTUAL METROLOGY ON A RUN-TO-RUN CONTROL FOR A CHEMICAL MECHANICAL PLANARIZATION PROCESS*...... 6154 M. A. Jebri, E. M. El Adel, G. Graton, M. Ouladsine, J. Pinaton

OPTIMIZATION OF THE DATA TRANSMISSION FLOW FROM MOVING OBJECT TO NONHOMOGENEOUS NETWORK OF BASE STATIONS ...... 6160 B. Miller, G. Miller, K. Semenikhin

DISTRIBUTED NASH EQUILIBRIUM SEEKING VIA THE ALTERNATING DIRECTION METHOD OF MULTIPLIERS ...... 6166 Farzad Salehisadaghiani, Lacra Pavel

STOCHASTIC STABILITY ANALYSIS OF CONTROL SYSTEMS WITH UNCERTAIN COMMUNICATION* ...... 6172 Christoffer Sloth, Rafael Wisniewski

USING DATA MINING METHODS FOR MANUFACTURING PROCESS CONTROL...... 6178 P. Vazan, D. Janikova, P. Tanuska, M. Kebisek, Z. Cervenanska

COORDINATION OF DISTRIBUTED MPC SYSTEMS VIA DYNAMIC REAL-TIME OPTIMIZATION * ...... 6184 Mohammad Zamry Jamaludin, Christopher L. E. Swartz

KRIGING ANALYSIS OF AN INTEGRATED DEMAND MANAGEMENT PROCESS IN SOFTWOOD INDUSTRY ...... 6190 M. Ben Ali, S. D’Amours, J. Gaudreault, M. A. Carle

MODELLING A MANUFACTURING LINE USING EXTENDED OBJECT ORIENTED BAYESIAN NETWORK...... 6196 Q. Liu, A. Tchangani, F. Pérès

AN AUTOMATED GENERATION APPROACH OF SIMULATION MODELS FOR CHECKING CONTROL/MONITORING SYSTEM ...... 6202 Sophie Prat, Jérémy Cavron, Djamal Kesraoui, Philippe Rauffet, Pascal Berruet, Alain Bignon

THREE-DIMENSIONAL LEADERLESS FLOCKING CONTROL OF LARGE-SCALE SMALL UNMANNED AERIAL VEHICLES...... 6208 Yongnan Jia, Jinming Du, Weicun Zhang, Long Wang

AN ALGEBRAIC APPROACH TO THE IDENTIFICATION OF LINEAR SYSTEMS WITH FRACTIONAL DERIVATIVES ...... 6214 Nicole Gehring, Joachim Rudolph

TOWARDS AN EFFECTIVE STUDY OF THE ALGEBRAIC PARAMETER ESTIMATION PROBLEM ...... 6220 Alban Quadrat

FREQUENCY DOMAIN IDENTIFICATION OF ARX MODELS IN THE PRESENCE OF ADDITIVE INPUT– OUTPUT NOISE ...... 6226 Umberto Soverini, Torsten Söderström

TRANSFER FUNCTION ESTIMATION IN SYSTEM IDENTIFICATION TOOLBOX VIA VECTOR FITTING...... 6232 Ahmet Arda Ozdemir, Suat Gumussoy

BAYESIAN FREQUENCY DOMAIN IDENTIFICATION OF LTI SYSTEMS WITH OBFS KERNELS* ...... 6238 Mohamed A. H. Darwish, John Lataire, Roland Tóth

FREQUENCY DOMAIN IDENTIFICATION OF COMPLEX SINUSOIDS IN THE PRESENCE OF ADDITIVE NOISE...... 6244 Umberto Soverini, Torsten Söderström

UNKNOWN INPUT INTERVAL OBSERVER WITH H∞ AND D-STABILITY PERFORMANCE...... 6251 N. Ellero, D. Gucik-Derigny, D. Henry

INTERVAL OBSERVERS DESIGN FOR CONTINUOUS-TIME LINEAR SWITCHED SYSTEMS ...... 6259 Haifa Ethabet, Tarek Raissi, Messaoud Amairi, Mohamed Aoun

INTERVAL ESTIMATION FOR LINEAR SWITCHED SYSTEM*...... 6265 Djahid Rabehi, Denis Efimov, Jean-Pierre Richard

REDUCED-ORDER INTERVAL-OBSERVER DESIGN FOR DYNAMIC SYSTEMS WITH TIME-INVARIANT UNCERTAINTY ...... 6271 Masoud Pourasghar, Vicenç Puig, Carlos Ocampo-Martinez, Qinghua Zhang

PARAMETER ESTIMATION ENHANCED BY OPTIMAL INPUT DESIGN IN A BOUNDED-ERROR CONTEXT ...... 6277 Qiaochu Li, Carine Jauberthie, Lilianne Denis-Vidal, Zohra Cherfi

INTERVAL-BASED IMPLEMENTATION OF ROBUST VARIABLE-STRUCTURE AND BACKSTEPPING CONTROLLERS OF SINGLE-INPUT SINGLE-OUTPUT SYSTEMS ...... 6283 Andreas Rauh, Julia Kersten, Harald Aschemann

AN ADAPTIVE CROSS APPROXIMATION METHOD FOR THE HAMILTON-JACOBI-BELLMAN EQUATION* ...... 6289 Zhong Wang, Yan Li

INVESTIGATION OF CONTROLLABILITY AND REGULARITY CONDITIONS FOR STATE CONSTRAINED PROBLEMS*...... 6295 Aram V. Arutyunov, Dmitry Yu. Karamzin, Fernando L. Pereira

STATE CONSTRAINED OPTIMAL CONTROL VIA THE FOKKER-PLANCK EQUATION...... 6303 Per Rutquist, Torsten Wik, Claes Breitholtz

OPTIMAL SOLUTION OF KINODYNAMIC MOTION PLANNING FOR THE CART-POLE SYSTEM ...... 6308 Fabrizio Boriero, Nicola Sansonetto, Antonio Marigonda, Riccardo Muradore, Paolo Fiorini

LINEAR OPTIMAL CONTROL ON FACTOR GRAPHS — A MESSAGE PASSING PERSPECTIVE — ...... 6314 Christian Hoffmann, Philipp Rostalski

TIME-OPTIMAL SOLUTION FOR A UNICYCLE PATH ON SE(2) WITH A PENALTY ON CURVATURE * ...... 6320 Udit Halder, Uroš Kalabic

EMPIRICAL DIFFERENTIAL BALANCING FOR NONLINEAR SYSTEMS...... 6326 Yu Kawano, Jacquelien M. A. Scherpen

MODEL ORDER REDUCTION OF STOCHASTIC LINEAR SYSTEMS BY MOMENT MATCHING* ...... 6332 Giordano Scarciotti, Andrew R. Teel

H2 ORDER AND PARAMETER DEPENDENCY REDUCTION OF UNCERTAIN LINEAR SYSTEMS USING LMI RELAXATIONS...... 6338 Gustavo S. Mazzoccante, Ricardo C. L. F. Oliveira

LPV MODEL REDUCTION METHODS FOR AEROELASTIC STRUCTURES*...... 6344 Gy. Lipták, T. Luspay, T. Péni, B. Takarics, B. Vanek

MODEL REDUCTION BY MOMENT MATCHING AT ISOLATED SINGULARITIES FOR LINEAR SYSTEMS: A COMPLEX ANALYTIC APPROACH ...... 6350 Alberto Padoan, Alessandro Astolfi

KRYLOV SUBSPACE METHODS FOR MODEL ORDER REDUCTION IN COMPUTATIONAL ELECTROMAGNETICS*...... 6355 Matteo Bonotto, Angelo Cenedese, Paolo Bettini

FROM SWISS TO TECIS AND BEYOND...... 6361 P. Kopacek, L. Stapleton, M. Dimirovski

THE CONTROL OF HUMAN FACTORS IN CATASTROPHIC FINANCIAL SYSTEMS RISK USING ONTOLOGIES ...... 6367 John Organ, Larry Stapleton

SYSTEMIC CONTROL, CULTURAL VALUES AND RELIGIOUS INSTITUTIONS AN ASSESSMENT OF SEMI-AUTOMATIC HUMAN VALUES SYSTEMS ANALYSIS IN RELIGIOUS INSTITUTIONAL DIAGNOSTICS ...... 6373 Larry Stapleton, Dawton Marques, Tejan Thakar

NON-MALEFICIENCE: PROFESSIONAL PRACTICE IN POLAND...... 6379 Józef Bohdan Lewoc, Marion Hersh, Mike Fitzgibbon

A RANDOMIZED VARIANCE-BASED SENSOR SCHEDULING FOR REMOTE STATE ESTIMATION ...... 6385 Yuzhe Li, Tongwen Chen

NETWORKED CONTROL OF UNCERTAIN SYSTEMS VIA THE COARSEST QUANTIZATION AND LOSSY COMMUNICATION...... 6391 Kazuya Takijiri, Hideaki Ishii

DATA-RATE AND NETWORK CODING CO-DESIGN WITH STABILITY AND CAPACITY CONSTRAINTS...... 6397 G. D. Di Girolamo, M. D. Di Benedetto, A. S. A. Dilip, A. D’Innocenzo, R. Jungers

SNR ANALYSIS FOR LINEAR QUADRATIC CONTROL OVER GAUSSIAN CHANNELS WITH FEEDBACK ...... 6403 Hidenori Shingin, Yoshito Ohta

CONTROL WITH ERASURE CHANNELS: PERFORMANCE CHARACTERIZATION USING AN EQUIVALENT SNR CONSTRAINED PROBLEM...... 6410 Alejandro I. Maass, Francisco J. Vargas

MODEL REDUCTION FOR APERIODICALLY SAMPLED DATA SYSTEMS * ...... 6416 Mert Bastug, Laurentiu Hetel, Mihály Petreczky

ATTITUDE AND ORBIT CONTROL SYSTEMS OF RUSSIAN COMMUNICATION, NAVIGATION AND GEODESIC SATELLITES: HISTORY, PRESENT AND FUTURE...... 6422 Nikolay Testoyedov, Valentine Rayevsky, Yevgeny Somov, Gennady Titov, Yevgeny Yakimov

FROM GOCE TO NGGM: AUTOMATIC CONTROL BREAKTHROUGHS FOR EUROPEAN FUTURE GRAVITY MISSIONS...... 6428 A. Bacchetta, L. Colangelo, E. Canuto, S. Dionisio, L. Massotti, C. Novara, M. Parisch, P. Silvestrin

DEVELOPMENT STAGES AND PROSPECTS OF FLIGHT CONTROL AND NAVIGATION COMPLEXES FOR AIRCRAFT...... 6434 Alexander Nebylov, Mikhail Tikhomirov, Hamza Benzerrouk

ATTITUDE AND ACTIVE PAYLOAD CONTROL: THE H∞ REVOLUTION...... 6440 C. Pittet, J. Mignot, F. Viaud

MODERN CONTROL THEORY AND REAL-WORLD AEROSPACE APPLICATIONS: I LOVE YOU, NOR DO I ?...... 6446 Ali Zolghadri

A DEADBEAT OBSERVER FOR TWO AND THREE-DIMENSIONAL LTI SYSTEMS BY A TIME/OUTPUT- DEPENDENT STATE MAPPING...... 6452 Gilberto Pin, Peng Li, Giuseppe Fedele, Thomas Parisini

UNKNOWN INPUT OBSERVERS FOR HYBRID LINEAR SYSTEMS WITH STATE JUMPS...... 6458 G. Conte, A. M. Perdon, E. Zattoni

PERIODIC SIGNAL COMPRESSORS...... 6465 Shen Zeng, Jan Maximilian Montenbruck, Frank Allgöwer

SET-MEMBERSHIP OBSERVER DESIGN BASED ON ELLIPSOIDAL INVARIANT SETS ...... 6471 Nassim Loukkas, John J. Martinez, Nacim Meslem

NON-MINIMAL ORDER LOW-FREQUENCY H∞ FILTERING FOR UNCERTAIN DISCRETE-TIME SYSTEMS...... 6477 Lício B. R. R. Romão, Luciano Frezzatto, Maurício C. De Oliveira, Ricardo C. L. F. Oliveira, Pedro L. D. Peres

DISTRIBUTED IMPLEMENTATION AND DESIGN FOR STATE ESTIMATION...... 6483 P. Millán, A. R. Del Nozal, L. Zaccarian, L. Orihuela, A. Seuret

PREDICTION-BASED ADAPTIVE ROBUST CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY SYSTEMS...... 6489 Jayaprakash Suraj Nandiganahalli, Cheolhyeon Kwon, Inseok Hwang

SIMULTANEOUS DECENTRALIZED CONTROLLER DESIGN FOR TIME-DELAY SYSTEMS* ...... 6495 S. Mert Özer, Altug Iftar

DOMINANT FOUR-POLE PLACEMENT IN FILTERED PID CONTROL LOOP WITH DELAY ...... 6501 J. Fišer, P. Zítek, T. Vyhlídal

ON THE LYAPUNOV MATRIX OF LINEAR DELAY DIFFERENCE EQUATIONS IN CONTINUOUS TIME* ...... 6507 Emanuel Rocha, Sabine Mondié, Michael Di Loreto

INVERSION OF SEPARABLE KERNEL OPERATORS IN COUPLED DIFFERENTIAL-FUNCTIONAL EQUATIONS AND APPLICATION TO CONTROLLER SYNTHESIS*...... 6513 Guoying Miao, Matthew M. Peet, Keqin Gu

STABILITY ANALYSIS OF A HUMAN-IN-THE-LOOP TELEROBOTICS SYSTEM WITH TWO INDEPENDENT TIME-DELAYS ...... 6519 Ehsan Yousefi, Yildiray Yildiz, Rifat Sipahi, Tansel Yucelen

A SHORT SURVEY ON NONLINEAR MODELS OF QPSK COSTAS LOOP ...... 6525 N. V. Kuznetsov, O. A. Kuznetsova, G. A. Leonov, M. V. Yuldashev, R. V. Yuldashev

HARDWARE IMPLEMENTATION OF A CONSTRAINTS-BASED ESC FOR THERMOELECTRIC GENERATORS ...... 6534 S. Patel, O. Maganga, A. Fofana, I. Bates

BACKSTEPPING CONTROL OF PHOTOVOLTAIC-GRID HYBRID POWER FEED WATER PUMP...... 6540 A. El Fadili, F. Cuny, A. El Magri, M. Stitou, F. Giri, J. M. Janik, F. Z. Chaoui

ADAPTIVE CONTROL WITH HEURISTIC DISTURBANCE REJECTION IN T1DM: A PERFORMANCE ASSESSMENT...... 6546 Matúš Rebro, Marián Tárník, Ján Murgaš

ADAPTIVE POWER AND RATE CONTROL FOR WIRELESS COMMUNICATION NETWORKS WITH NONLINEAR CHANNEL FADING AND TIME-VARYING DELAY ...... 6552 Cunwu Han, Mengqi Li, Yinghong Li, Zhe Dong, Zhijun Li

CONTROL ANALYSIS AND SYNTHESIS THROUGH POLYTOPIC TENSOR PRODUCT MODEL: A GENERAL CONCEPT...... 6558 József Kuti, Péter Galambos, Péter Baranyi

DISTRIBUTED MODEL PREDICTIVE CONTROL OF IRRIGATION SYSTEMS USING COOPERATIVE CONTROLLERS * ...... 6564 Le-Duy-Lai Nguyen, Ionela Prodan, Laurent Lefevre, Denis Genon-Catalot

MOBILE MODEL PREDICTIVE CONTROL FOR THE ÉVORA IRRIGATION TEST CANAL...... 6570 F. López Rodríguez, K. Horváth, J. García Martín, J. M. Maestre

DISTRIBUTED MDP FOR WATER RESOURCES PLANNING AND MANAGEMENT IN INLAND WATERWAYS ...... 6576 Guillaume Desquesnes, Guillaume Lozenguez, Arnaud Doniec, Éric Duviella

PLUG-AND-PLAY MODEL PREDICTIVE CONTROL FOR WATER SUPPLY NETWORKS WITH STORAGE...... 6582 Carsten Skovmose Kallesøe, Tom Nørgaard Jensen, Jan Dimon Bendtsen

PERIODIC NONLINEAR ECONOMIC MODEL PREDICTIVE CONTROL WITH CHANGING HORIZON FOR WATER DISTRIBUTION NETWORKS *...... 6588 Ye Wang, José Ramón Salvador, David Muñoz De La Peña, Vicenç Puig, Gabriela Cembrano

ROBUST MODEL PREDICTIVE CONTROL WITH SIGNAL TEMPORAL LOGIC CONSTRAINTS FOR BARCELONA WASTEWATER SYSTEM ...... 6594 Samira S. Farahani, Sadegh Esmaeil Zadeh Soudjani, Rupak Majumdar, Carlos Ocampo-Martinez

OPTIMIZATION OF AN OILSEED-BASED BIOFUELS UPSTREAM SUPPLY CHAIN IN WEST AFRICA...... 6601 Linda D. F. Bambara, Marie Sawadogo, Joël Blin, Daniel Roy, Didier Anciaux

FLOW AND PRESSURE REGULATION FOR AGRICULTURAL SPRAYERS USING SOLENOID VALVES*...... 6607 Heitor V. Mercaldi, Elmer A. G. Peñaloza, Rafael A. Mariano, Vilma A. Oliveira, Paulo E. Cruvinel

OPTIMAL MANAGEMENT OF WATER AND ENERGY IN IRRIGATION SYSTEMS: APPLICATION TO THE BARDENAS CANAL ...... 6613 J. Galindo, S. Torok, F. Salguero, S. De Campos, J. Romera, V. Puig

POD AND GALERKIN-BASED REDUCTION OF A WOOD CHIP DRYING MODEL...... 6619 Marc Oliver Berner, Florian Sudbrock, Viktor Scherer, Martin Mönnigmann

DECENTRALIZED OPTIMAL PROJECTED CONTROL OF PV INVERTERS IN RESIDENTIAL MICROGRIDS* ...... 6624 Pulkit Nahata, Silvia Mastellone, Florian Döorfler

A DECENTRALIZED SWITCHED SYSTEM APPROACH TO OVERVOLTAGE PREVENTION IN PV RESIDENTIAL MICROGRIDS* ...... 6630 Pulkit Nahata, Silvia Mastellone, Florian Dörfler

ON HIGHER ORDER DYNAMICS IN THE FUNDAMENTAL EQUATION OF FREQUENCY IN ISLANDED MICROGRIDS ...... 6636 J. Dobrowolski, M. Alamir, S. Bacha, D. Gualino, M-X. Wang

ADVANCED DROOP CONTROL IN ISLANDED MICROGRIDS USING DYNAMIC PHASOR MODELS...... 6642 Christoph Kammer, Alireza Karimi

ON THE ROBUSTNESS OF A PASSIVITY–BASED CONTROLLER FOR MICROGRIDS*...... 6648 Sofía Avila-Becerril, Diego Silva-Martínez, Gerardo Espinosa-Pérez

ANALYSIS OF NEONATAL PULMONARY MECHANICS...... 6654 Jimmy Chakson, Eugene J. McNearney, Finbar Argus, Conor J. Sutherland, Jennifer Dickson, Daniel Redmond, Kyeong T. Kim, J. Geoffrey Chase

A VARIABLE RESISTANCE RESPIRATORY MECHANICS MODEL* ...... 6660 Daniel P. Redmond, Kyeong Tae Kim, Sophie E. Morton, Sarah L. Howe, Yeong Shiong Chiew, J. Geoffrey Chase

A BOOTSTRAP APPROACH FOR PREDICTING METHOXYFLURANE OCCUPATIONAL EXPOSURE IN PARAMEDICINE ...... 6666 Serah J. Allison, Paul D. Docherty, Dirk Pons, J. Geoffrey Chase

VIRTUAL TRIALS OF THE NICE-SUGAR PROTOCOL: THE IMPACT ON PERFORMANCE OF PROTOCOL AND PROTOCOL COMPLIANCE ...... 6672 Vincent Uyttendaele, Jennifer L. Dickson, Geoffrey Shaw, Thomas Desaive, J. Geoffrey Chase

MODELING FLUID VOLUME AND CREATININE DYNAMICS DURING ACUTE KIDNEY INJURY AND EDEMA ...... 6678 Evan Richards, Gilles Clermont, Robert S. Parker

PART 11

ITERATIVE LEARNING CONTROL OF A LEFT VENTRICULAR ASSIST DEVICE...... 6684 M. Ketelhut, F. Schrödel, S. Stemmler, J. Roseveare, M. Hein, J. Gesenhues, T. Albin, D. Abel

H2 AND H∞ DIGITAL REDESIGN OF ANALOG CONTROLLERS FOR CONTINUOUS-TIME POLYTOPIC SYSTEMS*...... 6691 Cecília F. Morais, Márcio F. Braga, Eduardo S. Tognetti, Ricardo C. L. F. Oliveira, Pedro L. D. Peres

GENERALIZED KLEINMAN-NEWTON METHOD IN DISCRETE-TIME * ...... 6697 José C. Geromel, Grace S. Deaecto

NEW RESULTS ON PID CONTROLLER DESIGN OF DISCRETE-TIME SYSTEMS VIA POLE PLACEMENT *...... 6703 Honghai Wang, Jianchang Liu, Xia Yu, Shubin Tan, Yu Zhang

MULTISCALE THERMAL MANAGEMENT OF COMPUTING SYSTEMS - THE MULTITHERMAN APPROACH...... 6709 Andrea Bartolini, Christian Conficoni, Roberto Diversi, Andrea Tilli, Luca Benini

DISCRETE-TIME MULTIPLE RESONANT CONTROLLER DESIGN FOR UNINTERRUPTIBLE POWER SUPPLIES ...... 6717 Guilherme Keiel, Jeferson V. Flores, Luís F. A. Pereira, Aurelio T. Salton

NONLINEAR CONTROL FOR INFINITE-DIMENSIONAL PROCESS SYSTEMS: FAULT-TOLERANT DISTRIBUTED APPLICATION FOR HEAT EXCHANGERS*...... 6723 S. J. Costa, J. M. Igreja, J. P. Mota, J. M. Lemos

A SEMI-DECENTRALIZED SCHEME FOR INTEGRATION OF PRICE-RESPONSIVE APPLIANCES IN THE ELECTRICITY MARKET ...... 6729 A. De Paola, D. Angeli, G. Strbac

STABILIZATION OF STRUCTURE-PRESERVING POWER NETWORKS WITH MARKET DYNAMICS *...... 6737 Tjerk W. Stegink, Claudio De Persis, Arjan J. Van Der Schaft

PROBABILISTIC APPROACH TO EVALUATE THE COST AND CONSTRAINTS OF THE RENEWABLE PRODUCTION CURTAILMENT IN MV NETWORK ...... 6743 M. T. Do, B. Francois

DYNAMIC PRICING FOR LOCAL ENERGY MANAGEMENT : TOWARDS A BETTER INTEGRATION OF LOCAL PRODUCTION ...... 6749 A. Muller, R. Bourdais

ROBUST OPTIMIZATION BASED ENERGY DISPATCH IN SMART GRIDS CONSIDERING SIMULTANEOUSLY MULTIPLE UNCERTAINTIES: LOAD DEMANDS AND ENERGY PRICES ...... 6755 M Nassourou, V Puig, J Blesa

LEARNING TO BUY (AND SELL) DEMAND RESPONSE*...... 6761 Kia Khezeli, Weixuan Lin, Eilyan Bitar

FINITE ELEMENT MODELING AND MOTION PLANNING OF AN ADAPTIVE ELASTIC WINGSAIL ...... 6768 Andreas Kater, Jan-Philipp Wriedt, Thomas Meurer

FAULT DETECTION FOR PARABOLIC SYSTEMS WITH DISTRIBUTED INPUTS AND OUTPUTS USING THE MODULATION FUNCTION APPROACH...... 6774 F. Fischer, J. Deutscher

BACKSTEPPING-BASED EXTENDED LUENBERGER OBSERVER DESIGN FOR A BURGERS-TYPE PDE FOR MULTI-AGENT DEPLOYMENT* ...... 6780 G. Freudenthaler, F. Göttsch, T. Meurer

ON APPROXIMATION AND IMPLEMENTATION OF TRANSFORMATION BASED FEEDBACK LAWS FOR DISTRIBUTED PARAMETER SYSTEMS ...... 6786 Frank Woittennek, Marcus Riesmeier, Stefan Ecklebe

OUTPUT FEEDBACK STABILIZATION FOR MULTI-DIMENSIONAL WAVE EQUATION WITH BOUNDARY CONTROL MATCHED DISTURBANCE * ...... 6793 Hua-Cheng Zhou, Bao-Zhu Guo, Cui-Zhen Yao

MODELING, DISCRETIZATION AND MOTION CONTROL OF A FLEXIBLE BEAM IN THE PORT- HAMILTONIAN FRAMEWORK* ...... 6799 M. Wang, A. Bestler, P. Kotyczka

A COMPARATIVE STUDY OF FAULT PROGNOSIS APPROACHES FOR TIMED STOCHASTIC DISCRETE EVENT SYSTEMS...... 6807 R. Ammour, E. Leclercq, E. Sanlaville, D. Lefebvre

DESIGN OF INDICATORS FOR THE DETECTION OF TIME SHIFT FAILURES IN (MAX, +)-LINEAR SYSTEMS...... 6813 Alexandre Sahuguède, Euriell Le Corronc, Yannick Pencolé

A GENERALIZED INFERENCE-BASED PROGNOSIS FRAMEWORK FOR DISCRETE EVENT SYSTEMS ...... 6819 Shigemasa Takai, Ratnesh Kumar

ADAPTIVE ONLINE FAULT DIAGNOSIS OF MANUFACTURING SYSTEMS BASED ON DEVS FORMALISM...... 6825 L. Rajaoarisoa, M. Sayed-Mouchaweh

SYNCHRONOUS CODIAGNOSABILITY OF MODULAR DISCRETE-EVENT SYSTEMS* ...... 6831 Felipe G. Cabral, Marcos V. Moreira

A DISCUSSION ON FAULT DETECTION FOR A CLASS OF HYBRID PETRI NETS...... 6837 Dimitri Lefebvre, Enrique Aguayo-Lara

MODELING AND CALIBRATION OF A TACTILE SENSOR FOR ROBUST GRASPING* ...... 6843 A. Cirillo, P. Cirillo, G. De Maria, C. Natale, S. Pirozzi

DESIGN AND IMPLEMENTATION OF A MAGNETICALLY ACTUATED MINIATURE ROBOTIC FISH*...... 6851 Xingyu Chen, Zhengxing Wu, Chao Zhou, Junzhi Yu

NONLINEAR ALGORITHM WITH ADAPTIVE PROPERTIES TO STABILIZE AN UNDERWATER VEHICLE: REAL-TIME EXPERIMENTS ...... 6857 A. Manzanilla, P. Castillo, R. Lozano

PARAMETER IDENTIFICATION OF THE KUKA LBR IIWA ROBOT INCLUDING CONSTRAINTS ON PHYSICAL FEASIBILITY ...... 6863 Yvonne R. Stürz, Lukas M. Affolter, Roy S. Smith

A COMPARISON OF DAMPED LEAST SQUARES ALGORITHMS FOR INVERSE KINEMATICS OF ROBOT MANIPULATORS *...... 6869 Daniele Di Vito, Ciro Natale, Gianluca Antonelli

COMMUNICATION-AWARE PLANNING FOR ROBOT TEAMS DEPLOYMENT ...... 6875 Yaroslav Marchukov, Luis Montano

FATIGUE AND RECOVERY: RESEARCH OPPORTUNITIES IN ORDER PICKING SYSTEMS ...... 6882 Battini Daria, Calzavara Martina, Persona Alessandro, Sgarbossa Fabio, Visentin Valentina

PICKING FROM PALLET AND PICKING FROM BOXES: A TIME AND ERGONOMIC STUDY...... 6888 Martina Calzavara, Robin Hanson, Fabio Sgarbossa, Lars Medbo, Mats I. Johansson

MANOEUVRES IN MANUAL PERSON-TO-PARTS ORDER PICKING SYSTEMS: IS THERE A SIGNIFICANT INFLUENCE ON TRAVEL TIME AND METABOLIC RATES?...... 6894 Ralf Elbert, Jan Philipp Müller

INCORPORATING HUMAN FACTORS INTO DECISION SUPPORT MODELS FOR PRODUCTION AND LOGISTICS: CURRENT STATE OF RESEARCH...... 6900 Eric H. Grosse, Martina Calzavara, Christoph H. Glock, Fabio Sgarbossa

WORKFORCE MANAGEMENT IN MANUAL ASSEMBLY LINES OF LARGE PRODUCTS: A CASE STUDY ...... 6906 Michele Martignago, Olga Battaïa, Daria Battini

SKILLS MANAGEMENT IN THE OPTIMIZATION OF AIRCRAFT MAINTENANCE PROCESSES...... 6912 Dorota Stadnicka, Dmitry Arkhipov, Olga Battaïa, R. M. Chandima Ratnayake

REINFORCEMENT LEARNING FOR ELECTRIC POWER SYSTEM DECISION AND CONTROL: PAST CONSIDERATIONS AND PERSPECTIVES ...... 6918 Mevludin Glavic, Raphaël Fonteneau, Damien Ernst

EVALUATION OF PHYSICAL DAMAGE ASSOCIATED WITH ACTION SELECTION STRATEGIES IN REINFORCEMENT LEARNING* ...... 6928 Ivan Koryakovskiy, Heike Vallery, Robert Babuška, Wouter Caarls

IMPLEMENTATION OF BRAIN EMOTIONAL LEARNING-BASED INTELLIGENT CONTROLLER FOR FLOCKING OF MULTI-AGENT SYSTEMS...... 6934 Mohammad Jafari, Ric Fehr, Luis Rodolfo Garcia Carrillo, Eduardo Steed Espinoza Quesada, Hao Xu

PHYSIOLOGICAL FEATURE BASED EMOTION RECOGNITION VIA AN ENSEMBLE DEEP AUTOENCODER WITH PARSIMONIOUS STRUCTURE ...... 6940 Zhong Yin, Yongxiong Wang, Wei Zhang, Li Liu, Jianhua Zhang, Fei Han, Wenjie Jin

ON-LINE RULE WEIGHTING FOR PID-TYPE FUZZY LOGIC CONTROLLERS USING EXTENDED KALMAN FILTER...... 6946 Nasser Arghavani, Moayed Almobaied, Mujde Guzelkaya, Ibrahim Eksin

SAFE OPERATION SEQUENCES: A GENERATION APPROACH BASED ON ITERATIVE REFINEMENTS AND ABSTRACTIONS OF TIMED AUTOMATA ...... 6952 Thomas Cochard, David Gouyon, Jean-François Pétin

MODEL BASED TRAJECTORY PLANNING FOR HIGHLY AUTOMATED ROAD VEHICLES...... 6958 Ferenc Hegedüs, Tamás Bécsi, Szilárd Aradi, Péter Gápár

FLAT-RRT*: A SAMPLING-BASED OPTIMAL TRAJECTORY PLANNER FOR DIFFERENTIALLY FLAT VEHICLES WITH CONSTRAINED DYNAMICS...... 6965 Luca Bascetta, Iñigo Mendizabal Arrieta, Maria Prandini

RELIABLE NONLINEAR CONTROL FOR QUADCOPTER TRAJECTORY TRACKING THROUGH DIFFERENTIAL FLATNESS...... 6971 Ngoc Thinh Nguyen, Ionela Prodan, Florin Stoican, Laurent Lefèvre

DECENTRALIZED HYBRID CONTROL FOR MULTI-AGENT MOTION PLANNING AND COORDINATION IN POLYGONAL ENVIRONMENTS*...... 6977 Mason Sutorius, Dimitra Panagou

GUIDING VECTOR FIELD ALGORITHM FOR A MOVING PATH FOLLOWING PROBLEM* ...... 6983 Yuri A. Kapitanyuk, Hector Garcia De Marina, Anton V. Proskurnikov, Ming Cao

BACKSTEPPING CONTROL METHOD WITH SLIDING MODE OBSERVER FOR AUTONOMOUS LANE KEEPING SYSTEM ...... 6989 Chang Mook Kang, Wonhee Kim, Seung-Hi Lee, Chung Choo Chung

ADAPTIVE BACKSTEPPING STATE FEEDBACK CONTROL FOR FRACTIONAL ORDER SYSTEMS WITH INPUT SATURATION* ...... 6996 Dian Sheng, Yiheng Wei, Songsong Cheng, Yong Wang

DISCUSSION ON FRACTIONAL ORDER DERIVATIVES...... 7002 Yiheng Wei, Yuquan Chen, Songsong Cheng, Yong Wang

FRACTIONAL ORDER COMPOSITE MRAC FOR MIMO SYSTEMS BASED ON SDU FACTORIZATION ...... 7007 Songsong Cheng, Yiheng Wei, Yuquan Chen Xi Zhou, Yong Wang

NEURAL FILTER BASED INTEGRATOR FOR VIRTUAL FLUX ESTIMATION IN DIRECT POWER CONTROL OF THREE-PHASE PWM RECTIFIERS ...... 7013 Ali Bechouche, Djaffar Ould Abdeslam, Hamid Seddiki, Adel Rahoui

A VARIABLE STRUCTURE SYSTEM CONTROL AND ITS APPLICATION IN UNDERWATER VEHICLES...... 7019 A. A. Dyda, D. Oskin, S. Longhi, A. Monteriù

THE DREM APPROACH FOR CHAOTIC OSCILLATORS PARAMETER ESTIMATION WITH IMPROVED PERFORMANCE *...... 7027 Vladislav S. Gromov, Oleg I. Borisov, Anton A. Pyrkin, Alexey A. Bobtsov, Sergey A. Kolyubin, Stanislav V. Aranovskiy

A NONLINEAR BACKSTEPPING CONTROLLER FOR INVERTERS USED IN MICROGRIDS...... 7032 L. Ammeh, H. El Fadil, A. Yahya, K. Ouhaddach, F. Giri, T. Ahmed-Ali

TOWARDS ARTIFICIAL SITUATION AWARENESS BY AUTONOMOUS VEHICLES*...... 7038 Owen McAree, Jonathan M. Aitken, Sandor M. Veres

A UGES SWITCHED MRAC ARCHITECTURE USING INITIAL EXCITATION*...... 7044 Sayan Basu Roy, Shubhendu Bhasin, Indra Narayan Kar

ADAPTIVE TRACKING OF UNKNOWN MULTI-SINUSOIDAL SIGNAL IN LINEAR SYSTEMS WITH ARBITRARY INPUT DELAYS AND UNKNOWN SIGN OF HIGH FREQUENCY GAIN...... 7052 Dmitry N. Gerasimov, Alexei V. Paramonov, Vladimir O. Nikiforov

MULTI-MODAL ACTIVE VIBRATION CONTROL OF A LIGHTWEIGHT STRESS-RIBBON FOOTBRIDGE BASED ON SUBSPACE IDENTIFICATION ...... 7058 Xiaohan Liu, Thomas Schauer, Arndt Goldack, Mike Schlaich

ADAPTIVE OPTIMAL CONTROL BASED ON PARAMETER ESTIMATION FOR SERVOMECHANISMS*...... 7064 Chi Zhang, Minggang Gan, Jie Chen, Chen Chen

BOUNDARY PI CONTROLLERS FOR A STAR-SHAPED NETWORK OF 2 x 2 SYSTEMS GOVERNED BY HYPERBOLIC PARTIAL DIFFERENTIAL EQUATIONS ...... 7070 Ngoc-Tu Trinh, Vincent Andrieu, Cheng-Zhong Xu

OPTIMAL SENSOR LOCATION AND MOBILE SENSOR CROWD MODELING FOR ENVIRONMENTAL MONITORING...... 7076 Didier Georges

SOURCE ESTIMATION FOR THE DAMPED WAVE EQUATION USING MODULATING FUNCTIONS METHOD: APPLICATION TO THE ESTIMATION OF THE CEREBRAL BLOOD FLOW ...... 7082 Sharefa Asiri, Taous-Meriem Laleg-Kirati

TRAJECTORY TRACKING FOR A SYSTEM OF TWO LINEAR HYPERBOLIC PDES WITH UNCERTAINTIES...... 7089 Jean Auriol, Florent Di Meglio

STABILIZATION OF LOSSLESS PROPAGATION TIME-DELAY SYSTEMS*...... 7096 H. Ersin Erol, Altug Iftar

ROBUST CONTROLLER DESIGN FOR TURNING OPERATIONS BASED ON MEASURED FREQUENCY RESPONSE FUNCTIONS ...... 7103 David Hajdu, Tamas Insperger, Gabor Stepan

SPECTRAL SHIFT OF CYLINDRICAL HEAT EQUATIONS BY FULL-STATE BOUNDARY FEEDBACK...... 7109 Kevin Schmidt, Philipp Wittmuess, Oliver Sawodny

GLOBALLY STABILIZING FINITE-DIMENSIONAL DAMPING CONTROL FOR DISSIPATIVE PDE WITH BOUNDED INPUTS ...... 7115 Julio Solís-Daun

REDUCED ORDER CONTROLLER DESIGN FOR TIMOSHENKO BEAM: A PORT HAMILTONIAN APPROACH *...... 7121 Yongxin Wu, Boussad Hamroun, Yann Le Gorrec, Bernhard Maschke

PDE OBSERVER DESIGN FOR COUNTER-CURRENT HEAT FLOWS IN A HEAT-EXCHANGER...... 7127 Fairouz Zobiri, Emmanuel Witrant, François Bonne

ON MIXED GALERKIN MODELING FOR CONTROLLER DESIGN OF BOUNDARY CONTROL SYSTEMS ...... 7133 Jun Imai, Katsuyuki Noso, Akiko Takahashi, Shigeyuki Funabiki

FINITE AND FIXED-TIME STATE ESTIMATION: PENDULUM-CART SYSTEM * ...... 7139 D. Gutiérrez, H. Ríos, J. A. Rosales, R. Galván-Guerra

SWITCHED GAIN DIFFERENTIATOR WITH FIXED-TIME CONVERGENCE ...... 7145 Denis Efimov, Andrey Polyakov, Arie Levant, Wilfrid Perruquetti

VARIABLE STRUCTURE TRACKING CONTROL-OBSERVER FOR A PERTURBED INERTIA WHEEL PENDULUM VIA POSITION MEASUREMENTS ...... 7151 Luis T. Aguilar, Rafael Iriarte, Yury Orlov

HIGHER ORDER SLIDING MODE STABILIZATION OF AN INVERTED CART-PENDULUM SYSTEM...... 7157 Jesús Mendoza-Avila, Ismael Castillo, Rafael Iriarte

ROBUST GENERATION OF SELF-OSCILLATION IN PENDULUM SYSTEMS: A SWITCHED INTEGRAL SLIDING MODE CONTROL APPROACH * ...... 7163 Juan E. Velázquez-Velázquez, Rosalba Galván-Guerra, Leonid Fridman

INPUT-TO-STATE STABILIZING A GENERAL NONLINEAR SYSTEM WITH TIME-VARYING INPUT DELAY AND DISTURBANCES *...... 7169 Xiushan Cai, Lingxin Meng, Cong Lin, Wei Zhang, Leibo Liu, Yanhong Liu

COMPUTING ELLIPSOIDAL ROBUST FORWARD INVARIANT TUBES FOR NONLINEAR MPC ...... 7175 Mario E. Villanueva, Jiaqi C. Li, Xuhui Feng, Benoît Chachuat, Boris Houska

DISCRETE TIME FORMULATION OF QUASI INFINITE HORIZON NONLINEAR MODEL PREDICTIVE CONTROL SCHEME WITH GUARANTEED STABILITY ...... 7181 Chinmay Rajhans, Sachin C. Patwardhan, Harish Pillai

PREDICTIVE CONTROL WITH ON-OFF ACTUATORS OF PARTIALLY FADING MEMORY SYSTEMS...... 7187 J. R. Salvador, T. Alamo, D. R. Ramirez, D. Muñoz De La Peña

ON DISTRIBUTED MODEL PREDICTIVE CONTROL FOR VEHICLE PLATOONING WITH A RECURSIVE FEASIBILITY GUARANTEE...... 7193 Shengling Shi, Mircea Lazar

STABLE NONLINEAR CONTROL OF AN AGONIST-ANTAGONIST MUSCLE-DRIVEN SYSTEM * ...... 7199 Hanz Richter, Holly Warner

FORMAL CONTROLLER SYNTHESIS VIA GENETIC PROGRAMMING ...... 7205 C. F. Verdier, M. Mazo Jr.

ON THE STABILIZATION OF FIXED-POINT ITERATIONS ARISING IN HIERARCHICAL CONTROL DESIGN...... 7211 M. Alamir, V. V. Trinh, P. Bonnay

RELAXING THE CONDITIONS OF ISS FOR MULTISTABLE PERIODIC SYSTEMS ...... 7217 Denis Efimov, Johannes Schiffer, Nikita Barabanov, Romeo Ortega

TIME OPTIMAL STATE FEEDBACK CONTROL WITH APPLICATION TO A SPACECRAFT WITH COLD GAS PROPULSION*...... 7223 Samuel J. Kitchen-McKinley, Sergey V. Drakunov

MODEL PREDICTIVE CONTROL FOR RENDEZVOUS HOVERING PHASES BASED ON A NOVEL DESCRIPTION OF CONSTRAINED TRAJECTORIES ...... 7229 Paulo Ricardo Arantes Gilz, Mioara Joldes, Christophe Louembet, Frédéric Camps

A NEW GLIDESLOPE GUIDANCE ALGORITHM FOR MINIMUM-FUEL FIXED-TIME ELLIPTIC RENDEZVOUS USING SEMIDEFINITE PROGRAMMING...... 7235 Yassine Ariba, Denis Arzelier, Laura Sofia Urbina

AN APPROACH FOR GEOSTATIONARY SATELLITE MODE MANAGEMENT ...... 7241 Massimo Tipaldi, Marco Witzmann, Massimo Ferraguto, Luigi Glielmo

SPACE DEBRIS REMOVAL USING A TETHER: A MODEL...... 7247 Pedro Velez, Tala Atie, Daniel Alazard, Christelle Cumer

COMBINED SINGULAR PERTURBATIONS AND NONLINEAR GEOMETRIC APPROACH TO FDI IN SATELLITE ACTUATORS AND SENSORS...... 7253 P. Baldi, P. Castaldi, N. Mimmo, S. Simani

AN MBSE APPROACH TO PASS FROM REQUIREMENTS TO FUNCTIONAL ARCHITECTURE...... 7260 L. Lemazurier, V. Chapurlat, A. Grossetête

TOWARDS AN INTEGRATION OF SYSTEMS ENGINEERING AND PROJECT MANAGEMENT PROCESSES FOR A DECISION AIDING PURPOSE ...... 7266 M. Lachhab, C. Béler, E. L. Solano-Charris, T. Coudert

DALTON: A GENERIC META-MODEL TO SUPPORT BUSINESS RULES AND REQUIREMENTS ENGINEERING IN A PLM SYSTEM ...... 7272 V. Fortineau, A. Talhi, T. Paviot, S. Lamouri

THE DETERMINATION OF FUNCTIONAL SAFETY CONCEPT COUPLED WITH THE DEFINITION OF LOGICAL ARCHITECTURE: A FRAMEWORK OF ANALYSIS FROM THE AUTOMOTIVE INDUSTRY ...... 7278 Pierre Mauborgne, Samuel Deniaud, Éric Levrat, Éric Bonjour, Jean-Pierre Micaelli, Dominique Loise

URBAN LOGISTICS ECOSYSTEM: A SYSTEM OF SYSTEM FRAMEWORK FOR STAKEHOLDERS IN URBAN FREIGHT TRANSPORT PROJECTS ...... 7284 Alexandra Lagorio, Roberto Pinto, Ruggero Golini

OFFER ELABORATION: NEW CONFIDENCE INDEXES TO TAKE INTO ACCOUNT UNCERTAINTY ...... 7290 A. Sylla, E. Vareilles, T. Coudert, M. Aldanondo, L. Geneste

SYSTEM IDENTIFICATION ALGORITHM FOR NON-UNIFORMLY SAMPLED DATA*...... 7296 Korkut Bekiroglu, Constantino Lagoa, Stephanie T. Lanza, Mario Sznaier

INPUT DESIGN FOR FAULT DETECTION USING EXTENDED KALMAN FILTER AND REINFORCEMENT LEARNING ...... 7302 Jan Škach, Ivo Puncochár

ACTIVE FAULT DIAGNOSIS FOR JUMP MARKOV NONLINEAR SYSTEMS ...... 7308 Jan Škach, Ivo Puncochár, Ondrej Straka

MAXIMIZING PARAMETER IDENTIFIABILITY OF A COMBINED THERMAL AND ELECTROCHEMICAL BATTERY MODEL VIA PERIODIC CURRENT INPUT OPTIMIZATION...... 7314 Sergio Mendoza, Michael Rothenberger, Ji Liu, Hosam K. Fathy

A NEW OPTIMIZATION-BASED APPROACH TO EXPERIMENT DESIGN FOR DYNAMIC MIMO IDENTIFICATION...... 7321 Kurt E. Häggblom

ORDER DETERMINATION AND INPUT SELECTION WITH LOCAL MODEL NETWORKS...... 7327 Julian Belz, Oliver Nelles, Daniel Schwingshackl, Jakob Rehrl, Martin Horn

INDISCERNIBLE TOPOLOGICAL VARIATIONS IN DAE NETWORKS WITH APPLICATIONS TO POWER GRIDS *...... 7333 Ferdinand Küsters, Deepak Patil, Pietro Tesi, Stephan Trenn

ON REMOTE STATE ESTIMATION IN THE PRESENCE OF AN EAVESDROPPER...... 7339 Alex S. Leong, Daniel E. Quevedo, Daniel Dolz, Subhrakanti Dey

PRIVATE AND SECURE COORDINATION OF MATCH-MAKING FOR HEAVY-DUTY VEHICLE PLATOONING*...... 7345 Farhad Farokhi, Iman Shames, Karl H. Johansson

PART 12

SECURE DYNAMIC STATE ESTIMATION BY DECOMPOSING KALMAN FILTER ...... 7351 Xinghua Liu, Yilin Mo, Emanuele Garone

STRONG STRUCTURAL INPUT AND STATE OBSERVABILITY OF LTV NETWORK SYSTEMS WITH MULTIPLE UNKNOWN INPUTS ...... 7357 Sebin Gracy, Federica Garin, Alain Y. Kibangou

DETECTION AND ISOLATION OF REPLAY ATTACKS THROUGH SENSOR WATERMARKING *...... 7363 Riccardo M. G. Ferrari, André M. H. Teixeira

AN IMPROVED-WM METHOD BASED ON OPTIMIZATION OF CENTERS OF OUTPUT FUZZY SUBSETS FOR FUZZY RULES *...... 7369 Yali Jin, Weihua Cao, Min Wu, Jinhua She, Yan Yuan

SUPERVISORY MODEL PREDICTIVE CONTROL OF THE HEAT INTEGRATED DISTILLATION COLUMN ...... 7375 Kristian Meyer, Thomas Bisgaard, Jakob K. Huusom, Jens Abildskov

PREDICTIVE CONTROL OF HYDRONIC FLOOR HEATING SYSTEMS USING NEURAL NETWORKS AND GENETIC ALGORITHMS*...... 7381 Kasper Vinther, Torben Green, Søren Ø. Jensen, Jan D. Bendtsen

ONLINE COMBINATORIAL OPTIMIZATION FOR INTERCONNECTED REFRIGERATION SYSTEMS: LINEAR APPROXIMATION AND SUBMODULARITY* ...... 7389 Insoon Yang

MPC WITH SLIDING MODE CONTROL FOR THE ENERGY MANAGEMENT SYSTEM OF MICROGRIDS* ...... 7397 Gian Paolo Incremona, Michele Cucuzzella, Lalo Magni, Antonella Ferrara

A TAILORED ADMM APPROACH FOR POWER COORDINATION IN VARIABLE SPEED DRIVES...... 7403 Felix Rey, Peter Hokayem, John Lygeros

IMPROVED CIRCLE AND POPOV CRITERIA FOR SYSTEMS CONTAINING MAGNITUDE BOUNDED NONLINEARITIES...... 7409 Matthew C. Turner, Jorge Sofrony

ON THE CONVERGENCE OF A MATRICIAL FIXED-POINT ITERATION CONNECTED WITH SPECTRAL ESTIMATION ...... 7415 Giacomo Baggio

A NOTE ON THE STABILITY OF NONLINEAR DIFFERENTIAL-ALGEBRAIC SYSTEMS*...... 7421 Pierluigi Di Franco, Giordano Scarciotti, Alessandro Astolfi

LYAPUNOV FUNCTIONS TO AVOID SQUASHED SUBLEVEL SETS FOR INTERCONNECTIONS CONTAINING NON-ISS COMPONENTS * ...... 7427 Hiroshi Ito

PATH-WISE BOUNDS AND IISS OF NONLINEAR SYSTEMS EXPOSED TO GLOBAL STOCHASTIC NOISE*...... 7433 Hiroshi Ito

DIFFERENTIAL POSITIVITY WITH RESPECT TO CONES OF RANK K ≥ 2 ...... 7439 C. Mostajeran, R. Sepulchre

WHAT TYPES OF FUNCTIONS MAY BE THE PERRON FUNCTION OF A DIAGONAL DISCRETE LINEAR TIME-VARYING SYSTEMS?* ...... 7445 Artur Babiarz, Adam Czornik, Alexander Konyukh, Michal Niezabitowski

THE STABILITY POSTULATE OF N.G. CETAEV AND THE AUGMENTED MODEL VALIDATION ...... 7450 Vladimir Rasvan

LYAPUNOV FUNCTIONS: AN OPTIMIZATION THEORY PERSPECTIVE* ...... 7456 Boris Polyak, Pavel Shcherbakov

ON THE INFLUENCE OF SMALL PERTURBATIONS ON THE SENIOR LYAPUNOV EXPONENT OF THE DISCRETE TIME-VARYING SYSTEM...... 7462 Artur Babiarz, Evgenij Barabanov, Adam Czornik, Michal Niezabitowski, Aliaksei Vaidzelevich

CONSTRUCTIVE ANALYSIS OF CONTROL SYSTEM STABILITY...... 7467 Pavel Osinenko, Grigory Devadze, Stefan Streif

APPLICATION OF THE LOCALIZATION METHOD TO STABILITY ANALYSIS AND CONSTRUCTION OF LYAPUNOV FUNCTIONS* ...... 7475 Alexander P. Krishchenko, Alexey E. Golubev

SUSTAINABILITY ASSESSMENT OF A TRANSPORTATION SYSTEM UNDER UNCERTAINTY: AN INTEGRATED MULTICRITERIA APPROACH ...... 7481 J. Moskolaï Ngossaha, R. Houé Ngouna, B. Archimède, J. M. Nlong

METHODOLOGY FOR DETERMINING CRITICAL LOCATIONS IN ROAD NETWORKS BASED ON GRAPH THEORY ...... 7487 Sven Henning, Patrick Biemelt, Kareem Abdelgawad, Sandra Gausemeier, Hans Heinrich Evers, Ansgar Trächtler

EXPERIMENTAL VERIFICATION OF A DYNAMIC MODEL FOR LANE-LESS (INDIAN) TRAFFIC...... 7493 Apurva Joshi, Debraj Chakraborty

DYNAMICAL MODELING AND PREDICTIVE CONTROL OF BUS TRANSPORT SYSTEMS: A HYBRID SYSTEMS APPROACH...... 7499 I. I. Sirmatel, N. Geroliminis

EFFECTS OF USING SYNTHESIZED DRIVING CYCLES ON VEHICLE FUEL CONSUMPTION ...... 7505 Kobus Hereijgers, Emilia Silvas, Theo Hofman, Maarten Steinbuch

MULTI-OBJECTIVE OPTIMIZATION BASED TUNING TOOL FOR INDUSTRIAL 2DOF PID CONTROLLERS* ...... 7511 Carlos Gamboa, José David Rojas, Orlando Arrieta, Ramon Vilanova

APPLICATIONS OF AN OPTIMAL MULTI-OBJECTIVE TECHNIQUE FOR INTEGRATED CONTROL STRUCTURE SELECTION AND TUNING ...... 7517 Juliani C. G. Rodrigo, Claudio Garcia

CLOSED-LOOP TUNING RULES FOR FEEDFORWARD COMPENSATOR GAINS* ...... 7523 M. Veronesi, J. L. Guzmán, A. Visioli, T. Hägglund

SCALABILITY OF FEEDBACK CONTROL SYSTEMS FOR PLUG-AND-PLAY CONTROL...... 7529 H. Luo, H. Zhao, S. X. Ding, S. Yin, H. Gao, X. Yang

FRACTIONAL ORDER MPC DESIGN USING IMPROVED STATE SPACE MODEL...... 7535 Qin Zou, Junfeng Zhang, Ridong Zhang, Furong Gao, Anke Xue

ENHANCED ACTIVE DISTURBANCE REJECTION CONTROL FOR TIME-DELAY SYSTEMS ...... 7541 Shoulin Hao, Tao Liu, Qing-Guo Wang

INTERNAL STABILITY AND LOOP-TRANSFORMATIONS: AN OVERVIEW ON LFTS, MÖBIUS TRANSFORMS AND CHAIN SCATTERING ...... 7547 Z. Szabó, P. Seiler, J. Bokor

STABILITY ANALYSIS OF LPV SYSTEMS WITH PIECEWISE DIFFERENTIABLE PARAMETERS...... 7554 Corentin Briat, Mustafa Khammash

GENERALISING QUASI-LPV AND CDI MODELS TO QUASI-CONVEX DIFFERENCE INCLUSIONS ...... 7560 Antonio Sala

GLOBAL ROBUST OUTPUT REGULATION FOR A CLASS OF NONLINEAR SYSTEMS VIA EVENT- TRIGGERED CONTROL* ...... 7566 Wei Liu, Jie Huang

INTERVAL OBSERVER FOR LPV SYSTEMS: APPLICATION TO VEHICLE LATERAL DYNAMICS ...... 7572 S. Ifqir, N. Ait Oufroukh, D. Ichalal, S. Mammar

ROBUST OUTPUT ESTIMATOR SYNTHESIS BASED ON CYCLING-BASED LPTV SCALING...... 7578 Yohei Hosoe, Mitsuaki Miyamoto, Tomomichi Hagiwara

AUTO-GENERATED SPECIFICATION OF ASSEMBLY UNITS BY FORMALIZED REQUIREMENTS FOR A HIGHER MATURITY IN THE ENGINEERING PROCESS...... 7584 Andreas Schlag, Michael Vielhaber

ITERATIVE LEARNING CONTROL OF A PNEUMATICALLY ACTUATED LUNG TUMOUR MIMIC MODEL ...... 7592 Alexander Wache, Harald Aschemann, Robert Prabel, Jens Kurth, Bernd J. Krause, Stefan Zorn

SYMBOLIC DYNAMIC MODELLING OF LOCOMOTION SYSTEMS WITH PERSISTENT CONTACTS - APPLICATION TO THE 3D BICYCLE ...... 7598 Johan Mauny, Mathieu Porez, Frédéric Boyer

A MODEL-BASED DESIGN APPROACH FOR AN OPTIMAL ELECTRO-HYDRAULIC SYSTEM WITHIN AUTOMATIC TRANSMISSIONS ...... 7606 W. Ebner, J. Fuchs, G. Brasseur

GENERATION OF SIMULATION MODELS IN MATLAB-SIMULINK BASED ON AUTOMATIONML PLANT DESCRIPTION...... 7613 Petr Novák, Fajar J. Ekaputra, Stefan Biffl

SHAPING STABLE OSCILLATION OF A PENDULUM ON A CART AROUND THE HORIZONTAL* ...... 7621 Maksim O. Surov, Sergei V. Gusev, Anton S. Shiriaev

ANALYSIS OF SAMPLED-DATA OPEN-LOOP CHARACTERISTICS ON MAGNETIC-HEAD POSITIONING SYSTEM IN HDDS...... 7627 Takenori Atsumi

DUAL ACTUATION OF FAST SCANNING AXIS FOR HIGH-SPEED ATOMIC FORCE MICROSCOPY...... 7633 Shingo Ito, Daniel Neyer, Juergen Steininger, Georg Schitter

TAPE TRANSPORT CONTROL WITH SUPPRESSION OF TIME-VARYING TENSION DISTURBANCES ...... 7639 Angeliki Pantazi, Giovanni Cherubini, Tomoko Taketomi, Nhan Bui, Mark Lantz

BEATING LANDAUER’S BOUND BY MEMORY ERASURE USING TIME MULTIPLEXED POTENTIALS...... 7645 Saurav Talukdar, Shreyas Bhaban, Murti Salapaka

BUDGETING OF SYSTEMATIC VERSUS STOCHASTIC ERRORS IN SENSOR FUSION FOR PIEZO ELECTRIC TRANSDUCERS ...... 7651 D. Kohl, S. Hoser, R. Saathof, G. Schitter

A SIMPLE AND EFFICIENT FEEDBACK CONTROL STRATEGY FOR WASTEWATER DENITRIFICATION...... 7657 Cédric Join, Jean Bernier, Stéphane Mottelet, Michel Fliess, Sabrina Rechdaoui-Guerin, Sam Azimi, Vincent Rocher

OPTIMIZED FRACTIONAL ORDER SLIDING MODE CONTROLLER FOR WATER LEVEL IN IRRIGATION CANAL POOL ...... 7663 Josenalde Barbosa De Oliveira, Tatiana M. Pinho, João Paulo Coelho, José Boaventura-Cunha, Paulo Moura Oliveira

EVOLUTIONARY GAME DYNAMICS AND RISK CONTROL IN GLOBAL DILEMMAS WITH INSURANCE COMPENSATION...... 7669 Jinming Du, Yongnan Jia

STRUCTURAL EFFECTS AND AGGREGATION IN A SOCIAL-NETWORK MODEL OF NATURAL RESOURCE CONSUMPTION ...... 7675 Talha Manzoor, Elena Rovenskaya, Abubakr Muhammad

PREDICTIVE MODEL BASED ARCHITECTURE FOR ENERGY BIOMASS SUPPLY CHAINS TACTICAL DECISIONS * ...... 7681 Tatiana M. Pinho, João Paulo Coelho, Germano Veiga, A. Paulo Moreira, Paulo Moura Oliveira, Josée Boaventura-Cunha

ORDER REDUCTION FOR A SIGNALING PATHWAY MODEL OF NEURONAL SYNAPTIC PLASTICITY...... 7687 Mikko Lehtimäki, Lassi Paunonen, Seppo Pohjolainen, Marja-Leena Linne

A FUZZY ASSISTED ENHANCED CONTROL FOR UTILITY CONNECTED ROOFTOP PV...... 7693 Deepak Pullaguram, Somesh Bhattacharya, Sukumar Mishra, Nilanjan Senroy

BOUNDED-VOLTAGE POWER FLOW CONTROL FOR GRID-TIED PV SYSTEMS ...... 7699 Yeqin Wang, Beibei Ren, Qing-Chang Zhong

FUZZY-BASED REACTIVE POWER CONTROL FOR SMART PV INVERTERS IN LV DISTRIBUTION SYSTEMS...... 7705 Efrain Bernal, Maximiliano Bueno-López, Fabian Salazar-Caceres

AN ULTRA-SHORT-TERM PRE-PLAN POWER CURVE BASED SMOOTHING CONTROL APPROACH FOR GRID-CONNECTED WIND-SOLAR-BATTERY HYBRID POWER SYSTEM ...... 7711 Chao Peng, Jianxiao Zou, Zhenzhen Zhang, Lu Han, Miao Liu

DAY-AHEAD PLANNING AND REAL-TIME CONTROL OF INTEGRATED PV-STORAGE SYSTEMS BY STOCHASTIC OPTIMIZATION...... 7717 Francesco Conte, Stefano Massucco, Federico Silvestro

MIXED LINEAR-QUADRATIC COST FUNCTION DESIGN FOR MPC OF AN ARTIFICIAL PANCREAS - IMPROVED TREATMENT & SAFETY FOR A BROAD RANGE OF MEAL SIZES*...... 7724 Gustavo Rebello, Ravi Gondhalekar, Eyal Dassau, Francis J. Doyle III

ARTIFICIAL PANCREAS: FIRST CLINICAL TRIALS IN ARGENTINA ...... 7731 R. Sánchez-Peña, P. Colmegna, L. Grosembacher, M. Breton, H. De Battista, F. Garelli, W. H. Belloso, E. Campos-Nanez, V. Simonovich, V. Beruto, P. Scibona, D. Chernavvsky

ARTIFICIAL PANCREAS: FROM CONTROL-TO-RANGE TO CONTROL-TO-TARGET * ...... 7737 Gian Paolo Incremona, Mirko Messori, Chiara Toffanin, Claudio Cobelli, Lalo Magni

INSULIN LIMITATION IN THE ARTIFICIAL PANCREAS BY SLIDING MODE REFERENCE CONDITIONING AND INSULIN FEEDBACK: AN IN SILICO COMPARISON * ...... 7743 I. Sala-Mira, J. L. Díez, J. Bondia

IMPACT OF SENSING AND INFUSION SITE DEPENDENT DYNAMICS ON INSULIN BOLUS BASED MEAL COMPENSATION...... 7749 Konstanze Kölle, Anders Fougner, Øyvind Stavdahl

EVALUATION OF MODEL COMPLEXITY IN MODEL PREDICTIVE CONTROL WITHIN AN EXERCISE- ENABLED ARTIFICIAL PANCREAS...... 7756 Navid Resalat, Joseph El Youssef, Ravi Reddy, Peter G. Jacobs

SUB-OPTIMAL EXTREMUM SEEKING CONTROL*...... 7762 Christophe Labar, Emanuele Garone, Michel Kinnaert

LEARNING-BASED NONLINEAR MODEL PREDICTIVE CONTROL* ...... 7769 D. Limon, J. Calliess, J. M. Maciejowski

EXTERNAL MODELS FOR OUTPUT REGULATION BASED ON MOMENT ESTIMATION FROM INPUT- OUTPUT DATA ...... 7777 Daniele Carnevale, Sergio Galeani, Mario Sassano, Andrea Serrani

ON LYAPUNOV FUNCTIONS AND DATA-DRIVEN DISSIPATIVITY...... 7783 T. M. Maupong, J. C. Mayo-Maldonado, P. Rapisarda

DETERMINING DISSIPATION INEQUALITIES FROM INPUT-OUTPUT SAMPLES * ...... 7789 Anne Romer, Jan Maximilian Montenbruck, Frank Allgöwer

DATA-DRIVEN PREDICTIVE CONTROL WITH NONLINEAR COMPENSATION FOR PERFORMANCE MANAGEMENT IN VIRTUALIZED SOFTWARE SYSTEM ...... 7795 Dharma Aryani, Liuping Wang, Tharindu Patikirikorala

FINITE CONTROL SET-MODEL PREDICTIVE SPEED CONTROL FOR INDUCTION MOTORS WITH OPTIMAL DURATION ...... 7801 Abdelsalam A. Ahmed, Byung Kwon Koh, Jung-Su Kim, Young Il Lee

SLIDING-MODE CONTROL OF A BOOST CONVERTER SUPPLYING A CONSTANT POWER LOAD ...... 7807 Blanca A. Martínez-Treviño, Robin Jammes, Abdelali El Aroudi, Luis Martínez-Salamero

GENERIC MODELING OF N-LEVEL PULSE WIDTH MODULATION VOLTAGE SOURCE INVERTERS AND THEIR CONTROL ...... 7813 P.-E. Vidal, S. Cailhol, F. Rotella

A FAULT DETECTION METHOD AND A TOLERANCE CONTROL IN A SINGLE-PHASE CASCADED H- BRIDGE MULTILEVEL INVERTER...... 7819 June-Hee Lee, Kyo-Beum Lee

DESIGN OF A UDE FREQUENCY SELECTIVE FILTER TO REJECT PERIODICAL DISTURBANCES...... 7824 Shlomo Gadelovits, Qing-Chang Zhong, George C. Konstantopoulos, Visakan Kadirkamanathan

IMPEDANCE-SUM STABILITY CRITERION FOR CASCADED POWER ELECTRONIC SYSTEMS ...... 7830 Qing-Chang Zhong, Xin Zhang

IDENTIFICATION OF CONTROL-RELEVANT DIESEL ENGINE MODELS USING A LOCAL LINEAR PARAMETRIC APPROACH*...... 7836 Thijs Van Keulen, Lars Huijben, Tom Oomen

OPTIMAL POWERTRAIN LOCK-UP TRANSIENTS FOR A HEAVY DUTY SERIES HYBRID ELECTRIC VEHICLE...... 7842 Martin Sivertsson, Lars Eriksson

OPTIMIZING A HYBRID DIESEL POWER UNIT USING EXTREMUM SEEKING CONTROL ...... 7849 J. Popp, J. Deutscher

OPTIMAL ENERGY CONTROL OF A DUAL FUEL VEHICLE FUELLED BY NATURAL GAS AND E10 ...... 7855 Carrie Hall, Michael Pamminger, James Sevik, Thomas Wallner

MODEL OF A HYBRID ELECTRICAL SYSTEM FOR SOFTWARE AND SYSTEM V & V ON HARDWARE IN THE LOOP TEST BENCH ...... 7863 Jérôme Lachaize, Romain Lamamy, Damien Verdier

H2 OPTIMIZATION UNDER INTERMITTENT SAMPLING AND ITS APPLICATION TO EVENT- TRIGGERED CONTROL* ...... 7869 Maor Braksmayer, Leonid Mirkin

DELAY-DEPENDENT DATA RATE BOUNDS FOR CONTAINABILITY OF SCALAR SYSTEMS*...... 7875 Steffen Linsenmayer, Rainer Blind, Frank Allgöwer

SELF-TRIGGERED CONTROL FOR SAMPLED-DATA SYSTEMS USING REACHABILITY ANALYSIS*...... 7881 Mohammad Al Khatib, Antoine Girard, Thao Dang

DESIGN OF PERIODIC EVENT-TRIGGERED CONTROL FOR POLYNOMIAL SYSTEMS: A DELAY SYSTEM APPROACH*...... 7887 E. Aranda-Escolástico, M. Abdelrahim, M. Guinaldo, S. Dormido, W. P. M. H. Heemels

OBSERVER-BASED EVENT-TRIGGERED CONTROL FOR LINEAR SYSTEMS SUBJECT TO CONE- BOUNDED NONLINEARITIES...... 7893 S. Tarbouriech, A. Seuret, L. G. Moreira, J. M. Gomes Da Silva Jr

ROBUST EVENT-TRIGGERED CONTROL SUBJECT TO EXTERNAL DISTURBANCE* ...... 7899 Pengpeng Zhang, Tengfei Liu, Zhong-Ping Jiang

USBL INTEGRATION AND ASSESSMENT IN A MULTISENSOR NAVIGATION APPROACH FOR AUVS...... 7905 Eric Guerrero Font, Francisco Bonin-Font, Pep-Lluis Negre, Miquel Massot, Gabriel Oliver

COOPERATIVE SOURCE SEEKING WITH DISTANCE-BASED FORMATION CONTROL AND SINGLE- INTEGRATOR AGENTS ...... 7911 Siavash Ahmadi Barogh, Herbert Werner

COOPERATIVE SOURCE SEEKING WITH DISTANCE-BASED FORMATION CONTROL AND NON- HOLONOMIC AGENTS ...... 7917 Siavash Ahmadi Barogh, Herbert Werner

COLLISION-FREE FORMATION CONTROL FOR MULTIPLE QUADROTOR-MANIPULATOR SYSTEMS* ...... 7923 Yuhua Qi, Jianan Wang, Jiayuan Shan

SPACE ROBOT RELATIVE NAVIGATION FOR DEBRIS REMOVAL ...... 7929 Setareh Yazdkhasti, Jurek Z. Sasiadek

EXPLORATION WITH HETEROGENEOUS ROBOTS NETWORKS FOR SEARCH AND RESCUE...... 7935 David Yanguas-Rojas, Eduardo Mojica-Nava

CYCLES AS A SOLVING STRATEGY FOR MATCHING PROBLEMS IN COOPERATIVE FULL TRUCKLOAD NETWORKS ...... 7941 B. Nieberding, A. Apfelstädt, S. Dashkovskiy

ON EXPLOITATION OF SUPPLY CHAIN PROPERTIES BY SEQUENTIAL DISTRIBUTED MPC* ...... 7947 Philipp N. Köhler, Matthias A. Müller, Jürgen Pannek, Frank Allgöwer

EVALUATING THE ROBUSTNESS OF PRODUCTION SCHEDULES USING DISCRETE-EVENT SIMULATION...... 7953 Guilherme Ernani Vieira, Mirko Kück, Enzo Frazzon, Michael Freitag

REDUCTION OF WAITING TIME IN LOGISTICS CENTERS BY TRAILER YARDS...... 7959 Sergey Dashkovskiy, Raik Suttner

A NETWORKED PRODUCTION SYSTEM TO IMPLEMENT VIRTUAL ENTERPRISE AND PRODUCT LIFECYCLE INFORMATION LOOPS ...... 7964 Giuseppe Avventuroso, Marco Silvestri, Paolo Pedrazzoli

LONG-TERM PRODUCTION PLANNING PROBLEM: SCHEDULING, MAKESPAN ESTIMATION AND BOTTLENECK ANALYSIS...... 7970 Dmitry I. Arkhipov, Olga Battaïa, Alexander A. Lazarev

A DELAY VECTOR VARIANCE BASED APPROACH FOR DETECTING AND ISOLATING THE NON- LINEARITY INDUCED OSCILLATIONS IN CONTROL LOOPS * ...... 7975 Muhammad Faisal Aftab, Morten Hovd, Selvanathan Sivalingam

AUTOMATIC DAMAGE QUANTIFICATION USING SIGNAL BASED AND NONLINEAR MODEL BASED DAMAGE SENSITIVE FEATURES...... 7981 Meriem Ghrib, Marc Rébillat, Nazih Mechbal, Guillaume Vermot Des Roches

PRACTICAL METHODS FOR DETECTING AND REMOVING TRANSIENT CHANGES IN UNIVARIATE OSCILLATORY TIME SERIES ...... 7987 Baifan Zhou, Moncef Chioua, Jan-Christoph Schlake

MODEL-PLANT MISMATCH DETECTION WITH SUPPORT VECTOR MACHINES*...... 7993 Qiugang Lu, R. Bhushan Gopaluni, Michael G. Forbes, Philip D. Loewen, Johan U. Backstrom, Guy A. Dumont

CONCURRENT MONITORING AND DIAGNOSIS OF PROCESS AND QUALITY FAULTS WITH CANONICAL CORRELATION ANALYSIS...... 7999 Qinqin Zhu, Qiang Liu, S. Joe Qin

FAULT DETECTION IN THE TENNESSEE EASTMAN BENCHMARK PROCESS WITH NONLINEAR SINGULAR SPECTRUM ANALYSIS...... 8005 S. Krishnannair, C. Aldrich

COOPERATIVE CONTROL FOR A FLIGHT ARRAY OF UAVS AND AN APPLICATION IN RADAR JAMMING* ...... 8011 Inmo Jang, Junho Jeong, Hyo-Sang Shin, Seungkeun Kim, Antonios Tsourdos, Jinyoung Suk

PART 13

COOPERATIVE LOCALISATION OF A GPS-DENIED UAV IN 3-DIMENSIONAL SPACE USING DIRECTION OF ARRIVAL MEASUREMENTS * ...... 8019 James S. Russell, Mengbin Ye, Brian D. O. Anderson, Hatem Hmam, Peter Sarunic

DISTRIBUTED EVENT-TRIGGERED CONTROL FOR MULTI-AGENT FORMATION STABILIZATION ...... 8025 Christophe Viel, Sylvain Bertrand, Michel Kieffer, Hélène Piet-Lahanier

FAST FORMATION OF SWARM OF UAVS IN CONGESTED URBAN ENVIRONMENT...... 8031 Sotirios Spanogianopoulos, Qian Zhang, Sarah Spurgeon

USE OF CO-OPERATIVE UAVS TO SUPPORT/AUGMENT UGV SITUATIONAL AWARENESS AND/OR INTER-VEHICLE COMMUNICATIONS ...... 8037 F. Quintin, S. Iovino, A. Savvaris, A. Tsourdos

PATH PLANNING OF MESSENGER UAV IN AIR-GROUND COORDINATION...... 8045 Yulong Ding, Bin Xin, Jie Chen, Hao Fang, Yangguang Zhu, Guanqiang Gao, Lihua Dou

TEMPERATURE CONTROL OF A FINITE DIFFUSIVE INTERFACE MEDIUM USING THE THIRD GENERATION CRONE CONTROLLER ...... 8052 Roy Abi Zeid Daou, Xavier Moreau, Fady Christophy

PINNING SYNCHRONIZATION OF FRACTIONAL GENERAL COMPLEX DYNAMICAL NETWORKS WITH TIME DELAY* ...... 8058 Guojian Ren, Yongguang Yu

VARIABLE ORDER DIFFERENTIAL MODELS OF BONE REMODELLING* ...... 8066 Joana Pinheiro Neto, Rui Moura Coelho, Duarte Valério, Susana Vinga, Dominik Sierociuk, Wiktor Malesza, Michal Macias, Andrzej Dzielinski

POSITIVE FRACTIONAL VARIABLE ORDER DISCRETE-TIME SYSTEMS* ...... 8072 Wiktor Malesza

DESIGN AND ANALYSIS OF FRACTIONAL ORDER PD∞-TYPE ITERATIVE LEARNING CONTROL ...... 8077 Yang Zhao, Fengyu Zhou, Da Wang, Yan Li

OPTIMAL TUNING OF FRACTIONAL ORDER PIλDµA CONTROLLER USING PARTICLE SWARM OPTIMIZATION ALGORITHM ...... 8084 Bettou Khalfa, Charef Abdelfateh

REVERSE ISHIKAWA-NESTEROV LEARNING SCHEME FOR FRACTIONAL MEAN-FIELD GAMES ...... 8090 Hamidou Tembine

AN APPLICATION OF THE SEASONAL FRACTIONAL ARIMA MODEL TO THE SEMICONDUCTOR MANUFACTURING ...... 8097 Kai Liu, Yangquan Chen, Xi Zhang

TWO STRATEGIES FOR FRACTIONAL SLIDING MODE CONTROL OF INTEGER ORDER SYSTEMS BY SYSTEM AUGMENTATION: APPLICATION TO A SERVOMOTOR* ...... 8103 Inés Tejado, Abdelhamid Djari, Blas M. Vinagre

FRACTIONAL-ORDER EXTREME LEARNING MACHINE WITH LÉVY FLIGHT...... 8109 Shuo Zhang, Yangquan Chen, Yongguang Yu

STABILITY OF DISCRETE FRACTIONAL LINEAR SYSTEMS WITH POSITIVE ORDERS*...... 8115 Dorota Mozyrska, Malgorzata Wyrwas

IMPROVED TRANSPARENCY FOR HAPTIC SYSTEMS WITH COMPLEX ENVIRONMENTS*...... 8121 Shane Forbrigger, Ya-Jun Pan

OBSERVER DESIGN FOR AN ELECTROCHEMICAL MODEL OF LITHIUM ION BATTERIES BASED ON A POLYTOPIC APPROACH...... 8127 Pierre G. Blondel, Romain Postoyan, Stéphane Raël, Sébastien Benjamin, Phillippe Desprez

ZERO FINDING VIA FEEDBACK STABILISATION...... 8133 T. Mylvaganam, A. Astolfi

ESTIMATION OF THE ATTRACTION DOMAIN FOR NONLINEAR SINGLE-INPUT SYSTEM WITH CONSTRAINED CONTROL * ...... 8139 Alexander V. Pesterev, Lev B. Rapoport

SINGULAR PERTURBATION FOR SAMPLED-DATA SYSTEMS WITH FAST SUBSYSTEMS* ...... 8145 Hyeonjun Yun, Hyungbo Shim, H. J. Chang

ENHANCED BOUNDED INTEGRAL CONTROL OF INPUT-TO-STATE STABLE NONLINEAR SYSTEMS...... 8151 George C. Konstantopoulos

POPOV-LIKE CRITERION FOR THE COMPLEX-VARIABLE SYSTEMS ...... 8157 M. M. Lipkovich, A. L. Fradkov

PARAMETER VARYING FLUTTER SUPPRESSION CONTROL FOR THE BAH JET TRANSPORT WING*...... 8163 B. Patartics, T. Luspay, T. Péni, B. Takarics, B. Vanek, T. Kier

INTEGER PROGRAMMING FOR OPTIMAL CONTROL OF GEOSTATIONARY STATION KEEPING OF LOW-THRUST SATELLITES ...... 8169 C. Gazzino, C. Louembet, D. Arzelier, N. Jozefowiez, D. Losa, C. Pittet, L. Cerri

PI(D) TUNING FOR FLIGHT CONTROL SYSTEMS VIA INCREMENTAL NONLINEAR DYNAMIC INVERSION...... 8175 Acquatella B. Paul, Wim Van Ekeren, Qi Ping Chu

ROBUST GENERALIZED DYNAMIC INVERSION QUADROTOR CONTROL...... 8181 Uzair Ansari, Abdulrahman H. Bajodah

NONLINEAR FEEDBACK CONTROL OF QUADROTORS EXPLOITING FIRST-ORDER DRAG EFFECTS ...... 8189 Jean-Marie Kai, Guillaume Allibert, Minh-Duc Hua, Tarek Hamel

TOWARDS 4D TRAJECTORY TRACKING FOR TRANSPORT AIRCRAFT...... 8196 H. Escamilla Núñez, F. Mora Camino, H. Bouadi

AN INTERNAL MODEL BASED SEMI-GLOBAL OUTPUT FEEDBACK CONTROL FOR NONLINEAR MULTI-AGENT SYSTEMS ...... 8202 Youfeng Su

ROBUST CONTROL FOR ROBOT MANIPULATORS: SUPPORT VECTOR REGRESSION BASED COMMAND FILTERED ADAPTIVE BACKSTEPPING APPROACH ...... 8208 Joseph Jean-Baptiste Mvogo Ahanda, Jean Bosco Mbede, Achille Melingui, Bernard Essimbi Zobo, Othman Lakhal, Rochdi Merzouki

STABILITY ANALYSIS OF OUTPUT REGULATED RATIONAL NONLINEAR SYSTEMS*...... 8214 Rafael S. Castro, Jeferson V. Flores, Aurélio T. Salton

MAXIMISING THE GUARANTEED FEASIBLE SET FOR STOCHASTIC MPC WITH CHANCE CONSTRAINTS ...... 8220 Rainer M. Schaich, Mark Cannon

ON EXISTENCE OF SEPARABLE CONTRACTION METRICS FOR MONOTONE NONLINEAR SYSTEMS*...... 8226 Ian R. Manchester, Jean-Jacques E. Slotine

A SCALABLE MOMENT MATCHING-BASED MODEL REDUCTION TECHNIQUE OF LINEAR NETWORKS...... 8232 Tudor C. Ionescu, Ion Necoara

AN AGENT-BASED FRAMEWORK FOR BIO-INSPIRED, VALUE-SENSITIVE DECISION-MAKING*...... 8238 Rebecca Gray, Alessio Franci, Vaibhav Srivastava, Naomi Ehrich Leonard

OPTIMIZED THERMAL-AWARE JOB SCHEDULING AND CONTROL OF DATA CENTERS...... 8244 Tobias Van Damme, Claudio De Persis, Pietro Tesi

FLATNESS BASED CONTROL AND TRACKING CONTROL BASED ON NONLINEARITY MEASURES ...... 8250 Markus Bröcker, Lukas Herrmann

TRACKING CONTROL OF FULLY-ACTUATED PORT-HAMILTONIAN MECHANICAL SYSTEMS VIA SLIDING MANIFOLDS AND CONTRACTION ANALYSIS...... 8256 Rodolfo Reyes-Báez, Arjan Van Der Schaft, Bayu Jayawardhana

ROBUST DESIGN OF THE UNCERTAINTY AND DISTURBANCE ESTIMATOR ...... 8262 A. Castillo, R. Sanz, P. Garcia, P. Albertos

CIRCULAR PATH FOLLOWING FOR THE SPHERICAL PENDULUM ON A CART ...... 8268 Luca Greco, Paolo Mason, Manfredi Maggiore

Q-ADAPTATION OF SVD-AIDED UKF ALGORITHM FOR NANOSATELLITE ATTITUDE ESTIMATION ...... 8273 Chingiz Hajiyev, Halil Ersin Soken, Demet Cilden Guler

HEURISTIC GUIDANCE TECHNIQUES FOR THE EXPLORATION OF SMALL CELESTIAL BODIES ...... 8279 Francesco Capolupo, Thierry Simeon, Jean-Claude Berges

GENERALIZATION OF LINEARLY PARAMETRIZED TRAJECTORY SHAPING GUIDANCE LAWS...... 8285 Namhoon Cho, Youdan Kim, Hyo-Sang Shin

TRAJECTORY OPTIMIZATION FOR PLANETARY MULTI-POINT POWERED LANDING...... 8291 Lin Ma, Kexin Wang, Zhijiang Shao, Zhengyu Song, Lorenz T. Biegler

DISCRETE-TIME DYNAMICAL NETWORKS WITH DIAGONAL CONTROLLABILITY GRAMIAN * ...... 8297 Shiyu Zhao, Fabio Pasqualetti

ROBUST SEMI-GLOBAL COORDINATED TRACKING OF SATURATED NETWORKED SYSTEMS* ...... 8303 Xiaoling Wang, Housheng Su, Xiaofan Wang, Yunze Cai

A DRIVER NODE SELECTION STRATEGY FOR MINIMIZING THE CONTROL ENERGY IN COMPLEX NETWORKS...... 8309 Gustav Lindmark, Claudio Altafini

TOPOLOGICAL ASPECTS OF CONTROLLING LARGE SCALE NETWORKS WITH UNILATERAL INPUTS*...... 8315 Gustav Lindmark, Claudio Altafini

MINIMUM ENERGY CONTROL FOR NETWORKS OF COUPLED HARMONIC OSCILLATORS*...... 8321 Gustav Lindmark, Claudio Altafini

PINNING CONTROLLABILITY OF COMPLEX STOCHASTIC NETWORKS ...... 8327 Daniel A. Burbano, Giovanni Russo, Mario Di Bernardo

APPROXIMATE INFERENCE OF NONPARAMETRIC HAMMERSTEIN MODELS*...... 8333 Riccardo S. Risuleo, Giulio Bottegal, Håkan Hjalmarsson

DISCRETE TIME APPROXIMATION OF CONTINUOUS TIME NONLINEAR STATE SPACE MODELS*...... 8339 J. Schoukens, R. Relan, M. Schoukens

APPLYING MEASURES OF DEPENDENCE BASED ON THE SYMMETRIC RÉNYI DIVERGENCE TO THE STATISTICAL LINEARIZATION ...... 8347 K. R. Chernyshov

LPV MODEL ORDER SELECTION FROM NOISE-CORRUPTED OUTPUT AND SCHEDULING SIGNAL MEASUREMENTS*...... 8355 Manas Mejari, Dario Piga, Alberto Bemporad

ROBUST TARGET LOCATION ESTIMATION FOR POSSIBLY UNKNOWN SIGNAL PROPAGATING MODELS *...... 8361 Er-Wei Bai, Li Ding

EM-BASED IDENTIFICATION OF ARX SYSTEMS HAVING QUANTIZED OUTPUT DATA...... 8367 Juan C. Agüero, Karen González, Rodrigo Carvajal

PROTECTING POSITIVE AND SECOND-ORDER SYSTEMS AGAINST UNDETECTABLE ATTACKS* ...... 8373 Jianqi Chen, Jieqiang Wei, Wei Chen, Henrik Sandberg, Karl H. Johansson, Jie Chen

VOLTAGE CONTROL IN DISTRIBUTED GENERATION UNDER MEASUREMENT FALSIFICATION ATTACKS*...... 8379 Mingxiao Ma, André M. H. Teixeira, Jan Van Den Berg, Peter Palensky

STATE ESTIMATION WITH SECRECY AGAINST EAVESDROPPERS ...... 8385 Anastasios Tsiamis, Konstantinos Gatsis, George J. Pappas

ANALYSIS AND MITIGATION OF BIAS INJECTION ATTACKS AGAINST A KALMAN FILTER* ...... 8393 Jezdimir Miloševic, Takashi Tanaka, Henrik Sandberg, Karl Henrik Johansson

CONSEQUENCE ANALYSIS OF INNOVATION-BASED INTEGRITY ATTACKS WITH SIDE INFORMATION ON REMOTE STATE ESTIMATION*...... 8399 Ziyang Guo, Dawei Shi, Karl Henrik Johansson, Ling Shi

WIRELESS CONTROL UNDER JAMMING ATTACKS WITH BOUNDED AVERAGE INTERFERENCE POWER* ...... 8405 Ahmet Cetinkaya, Hideaki Ishii, Tomohisa Hayakawa

FAST ADMM FOR HOMOGENEOUS SELF-DUAL EMBEDDING OF SPARSE SDPS *...... 8411 Yang Zheng, Giovanni Fantuzzi, Antonis Papachristodoulou, Paul Goulart, Andrew Wynn

DISTRIBUTED RESOURCE ALLOCATION AMONG A SUBSET OF NODES OF A GRAPH* ...... 8417 Germán Obando, Nicanor Quijano, Alain Gauthier

PROJECTED ALTERNATING DIRECTION METHOD OF MULTIPLIERS FOR HYBRID SYSTEMS...... 8423 Chengang Feng, Romain Bourdais

COMPUTING MONOTONE POLICIES FOR MARKOV DECISION PROCESSES: A NEARLY-ISOTONIC PENALTY APPROACH * ...... 8429 Robert Mattila, Cristian R. Rojas, Vikram Krishnamurthy, Bo Wahlberg

A CONSENSUS APPROACH TO DYNAMIC PROGRAMMING...... 8435 Mattia Laurini, Luca Consolini, Marco Locatelli

FORMATION CONTROL OF MOBILE ROBOTS BASED ON INTERCONNECTED POSITIVE SYSTEMS...... 8441 Hiroyuki Ichihara, Shinya Kajihara, Yoshio Ebihara, Dimitri Peaucelle

ABSOLUTE STABILITY ANALYSIS OF DISCRETE TIME FEEDBACK INTERCONNECTIONS*...... 8447 Matthias Fetzer, Carsten W. Scherer

SINGULAR PERTURBATIONS OF VOLTERRA EQUATIONS WITH PERIODIC NONLINEARITIES. STABILITY AND OSCILLATORY PROPERTIES*...... 8454 Vera B. Smirnova, Anton V. Proskurnikov

CONVERGENCE PROPERTIES OF AN ISOSPECTRAL SADDLE-POINT DYNAMICS...... 8460 Bahman Gharesifard, Christian Ebenbauer

NESTED SATURATION BASED CONTROL OF ULTRA-COMPLIANT CANTILEVER WITH TIP MASS MOUNTED ON A CART*...... 8465 Rahul Shenoy, Prasanna Gandhi

LOCAL STABILIZATION OF NONLINEAR DISCRETE-TIME SYSTEMS SUBJECT TO AMPLITUDE BOUNDED DISTURBANCES*...... 8472 Michael Klug, Eugenio B. Castelan, Daniel Coutinho

SCATTERING TRANSFORMATION FOR NON-PLANAR CONIC SYSTEMS * ...... 8478 Anastasiia A. Usova, Ilia G. Polushin, Rajni V. Patel

SLIDING MODE-BASED SPEED-GRADIENT CONTROL OF THE STRING ENERGY * ...... 8484 Yury V. Orlov, Alexander L. Fradkov, Boris Andrievsky

TIME-VARYING SLIDING MODE CONTROL FOR ABS CONTROL OF AN ELECTRIC CAR...... 8490 Sulakshan Rajendran, Sarah Spurgeon, Georgios Tsampardoukas, Ric Hampson

SIMPLEX SLIDING MODE CONTROL STRATEGIES FOR SPACECRAFT RENDEZVOUS MANEUVERS ...... 8496 Elisa Capello, Elisabetta Punta, Giorgio Bartolini

ON AVERAGE REAL SLIDING DYNAMICS IN LINEAR SYSTEMS...... 8502 Josep M. Olm, Domingo Biel, Víctor Repecho, Yuri B. Shtessel

SLIDING MODE OBSERVER FOR STOCHASTIC MECHANICAL MODELS OF ITÔ-TYPE WITH UNKNOWN DYNAMICS ...... 8508 Edgar Pelaez, Alexander Poznyak

SLIDING MODE CONTROL DESIGN FOR LINEAR EVOLUTION EQUATIONS WITH UNCERTAIN MEASUREMENTS AND EXOGENOUS PERTURBATIONS ...... 8513 Sergiy Zhuk, Andrey Polyakov, Olexander Nakonechnyi

EVENT-TRIGGERED CONTROL FOR IMPROVING THE POSITIONING ACCURACY OF CONNECTED VEHICLES EQUIPPED WITH DSRC ...... 8518 Adriana Simona Mihaita, Chen Cai, Fang Chen

STRING STABILITY PRESERVING ADAPTIVE SPACING POLICY FOR HANDLING SATURATION IN HETEROGENEOUS VEHICLE PLATOONS* ...... 8525 János Tóth, Gábor Rödönyi

DISTRIBUTED MODEL PREDICTIVE CONTROL FOR HIGHWAY MANEUVERS ...... 8531 Fatemeh Mohseni, Erik Frisk, Jan Åslund, Lars Nielsen

NONLINEAR ROBUST TRAFFIC FLOW CONTROL IN URBAN NETWORKS...... 8537 Ali Aalipour, Hamed Kebriaei, Mohsen Ramezani

A LINEAR FORMULATION FOR MODEL PREDICTIVE PERIMETER TRAFFIC CONTROL IN CITIES* ...... 8543 Anastasios Kouvelas, Mohammadreza Saeedmanesh, Nikolas Geroliminis

A ROBUST AND FAULT TOLERANT APPROACH FOR AUTOMATIC TRAIN STOP CONTROL SYSTEM DESIGN...... 8549 Braulio Aguiar, Denis Berdjag, Bernard Demaya, Thierry-Marie Guerra

ON FRACTIONAL PREDICTIVE PID CONTROLLER DESIGN METHOD ...... 8555 Emmanuel Edet, Reza Katebi

TUNING OF FRACTIONAL ORDER PID CONTROLLERS BASED ON INTEGRAL PERFORMANCE CRITERIA USING FOURIER SERIES METHOD...... 8561 F. Nur Deniz, Ali Yüce, Nusret Tan, Derek P. Atherton

IMPROVED INITIALIZATION OF FRACTIONAL ORDER SYSTEMS ...... 8567 N. Maamri, M. Tari, J. C. Trigeassou

MISCONCEPTIONS IN USING RIEMANN-LIOUVILLE’S AND CAPUTO’S DEFINITIONS FOR THE DESCRIPTION AND INITIALIZATION OF FRACTIONAL PARTIAL DIFFERENTIAL EQUATIONS ...... 8574 Jocelyn Sabatier, Christophe Farges

REALIZATION OF NEW ROBUST DIGITAL FRACTIONAL-ORDER COMPENSATORS ...... 8580 Paolo Lino, Guido Maione

COMBINED FRACTIONAL ADAPTIVE CONTROL* ...... 8586 Norelys Aguila-Camacho, Manuel A. Duarte-Mermoud

DAMPER FAULT-TOLERANT LINEAR PARAMETER-VARYING SEMI-ACTIVE SUSPENSION CONTROL ...... 8592 Michael Fleps-Dezasse, Ferdinand Svaricek, Jonathan Brembeck

A TIME-DOMAIN LPV H_/H∞ FAULT DETECTION FILTER...... 8600 L. Chen, R. J. Patton

MULTIPLE FAULT-TOLERANT IN-WHEEL VEHICLE CONTROL BASED ON HIGH-LEVEL CONTROL RECONFIGURATION*...... 8606 András Mihály, Péter Gáspár, Balázs Németh

TUBE-BASED LPV CONSTANT OUTPUT REFERENCE TRACKING MPC WITH ERROR BOUND* ...... 8612 Jurre Hanema, Mircea Lazar, Roland Tóth

H8 OUTPUT-FEEDBACK GAIN-SCHEDULED CONTROL FOR DISCRETE-TIME LINEAR SYSTEMS AFFECTED BY TIME-VARYING PARAMETERS* ...... 8618 Tábitha E. Rosa, Cecília F. Morais, Ricardo C. L. F. Oliveira

QUADRATIC AND POLY-QUADRATIC DISCRETE-TIME STABILIZABILITY OF LINEAR PARAMETER- VARYING SYSTEMS ...... 8624 Amit Pandey, Maurício C. De Oliveira

FUZZY MODEL BASED STABILITY ANALYSIS OF THE METAMORPHIC ROBOTIC PALM ...... 8630 Xiaozhan Yang, Jie Sun, Hak-Keung Lam, Jian S. Dai

REALTIME-CAPABLE FE-BASED RAILWAY CATENARY EMULATION VIA PANTOGRAPH TEST RIG IMPEDANCE CONTROL* ...... 8636 Guilherme Aschauer, Alexander Schirrer, Martin Kozek, Stefan Jakubek

A NOVEL ONLINE LS-SVM APPROACH FOR REGRESSION AND CLASSIFICATION ...... 8642 Erdem Dilmen, Selami Beyhan

A MICRO COORDINATE MEASURING MACHINE USING AN ACTIVE STEREOVISION TECHNIQUE FOR MEASURING 3D MICRO PARTS * ...... 8648 M. U. Khan, E. Dupont, H. Al-Hajjar, C. Mattar, C. Prelle, F. Lamarque

MODELING OF CANTILEVER BEAM UNDER DISSIPATIVE AND NONLINEAR FORCES WITH APPLICATION TO MULTI-RESONANT ATOMIC FORCE MICROSCOPY ...... 8654 Sergey Belikov, Sergei Magonov

EXPERIMENTAL SCANNING LASER LITHOGRAPHY WITH EXPOSURE OPTIMIZATION...... 8662 Andrew J. Fleming, Omid T. Ghalehbeygi, Ben S. Routley, Adrian G. Wills

SPLINE-BASED MOTION PLANNING IN AN OBSTRUCTED 3D ENVIRONMENT*...... 8668 Ruben Van Parys, Goele Pipeleers

A MULTIOBJECTIVE MPC APPROACH FOR AUTONOMOUSLY DRIVEN ELECTRIC VEHICLES * ...... 8674 Sebastian Peitz, Kai Schäfer, Sina Ober-Blöbaum, Julian Eckstein, Ulrich Kohler, Michael Dellnitz

TOWARDS DYNAMIC OPTIMIZATION WITH PARTIALLY UPDATED SENSITIVITIES *...... 8680 Niels Van Duijkeren, Goele Pipeleers, Jan Swevers, Moritz Diehl

A DYNAMIC PROGRAMMING MPC APPROACH FOR AUTOMATIC DRIVING ALONG TRACKS AND ITS REALIZATION WITH ONLINE STEERING CONTROLLERS *...... 8686 Andreas Huber, Matthias Gerdts

PART 14

A DISTRIBUTED MODEL PREDICTIVE CONTROL SCHEME FOR COORDINATED OUTPUT REGULATION*...... 8692 Andrea Alessandretti, A. Pedro Aguiar

EXPERIMENTAL SPEEDUP AND STABILITY VALIDATION FOR MULTI-STEP MPC* ...... 8698 Mohamed W. Mehrez, Karl Worthmann, George K. I. Mann, Raymond G. Gosine, Jürgen Pannek

OPTIMAL CONTROL OF A MEMBRANE FILTRATION SYSTEM ...... 8704 N. Kalboussi, A. Rapaport, T. Bayen, N. Ben Amar, F. Ellouze, J. Harmand

ANALYSIS OF AN OPTIMAL CONTROL PROBLEM RELATED TO MICROORGANISMS SELECTION* ...... 8710 T. Bayen, F. Mairet

A SAMPLING-BASED STOCHASTIC OPTIMAL EXPERIMENT DESIGN FORMULATION WITH APPLICATION TO THE WILLIAMS-OTTO REACTOR...... 8716 Philippe Nimmegeers, Dries Telen, Jan Van Impe

MULTI-OBJECTIVE OPTIMIZATION OF A PLUG FLOW REACTOR USING A DIVIDE AND CONQUER APPROACH...... 8722 Ihab Hashem, Dries Telen, Philippe Nimmegeers, Filip Logist, Jan Van Impe

GUARANTEED VALUE STRATEGY FOR THE OPTIMAL CONTROL OF BIOGAS PRODUCTION IN CONTINUOUS BIO-REACTORS...... 8728 Antoine Haddon, Jérôme Harmand, Héctor Ramírez, Alain Rapaport

MAXIMIZING MICROALGAE PRODUCTIVITY BY SHADING OUTDOOR CULTURES*...... 8734 Carlos Martínez, Olivier Bernard, Francis Mairet

MITIGATION OF SUB-SYNCHRONOUS CONTROL INTERACTION IN WIND POWER SYSTEMS WITH GA-SA TUNED DAMPING CONTROLLER ...... 8740 Xu Zhang, Xiaorong Xie, Huakun Liu, Hui Liu, Yunhong Li, Chuanyu Zhang

ROBUST MODEL PREDICTIVE CONTROL FOR COLLECTIVE PITCH IN WIND ENERGY CONVERSION SYSTEMS...... 8746 Ahmed Lasheen, Mohamed S. Saad, Hassan M. Emara, Abdel Latif Elshafei

MODEL PREDICTIVE DIRECT POWER CONTROL OF DOUBLY FED INDUCTION GENERATOR WITH DEAD-TIME COMPENSATION ...... 8752 Van Quang Binh Ngo, Pedro Rodriguez-Ayerb, Sorin Olaru, Silviu-Iulian Niculescu

A COORDINATED LVRT CONTROL FOR A PMSG WIND TURBINE ...... 8758 Chunghun Kim, Yonghao Gui, Chung Choo Chung

DYNAMIC MATRIX CONTROL OF AN AIRFOIL FOR WIND TURBINE APPLICATION*...... 8764 Aline A. Da Franca, Dirk Abel

FUZZY EMPIRICAL MODE DECOMPOSITION FOR SMOOTHING WIND POWER WITH BATTERY ENERGY STORAGE SYSTEM...... 8769 Xiyun Yang, Hong Yue, Jie Ren

A SIMPLE METHOD TO MODEL A CONTINUOUS GLUCOSE MONITORING SIGNAL ...... 8775 Felicity Thomas, Christopher Pretty, Jennifer Dickson, Matthew Signal, Geoffrey Shaw, J. Geoffrey Chase

A SIMULATION STUDY ON THE VENTILATION INHOMOGENEITY MEASURED WITH ELECTRICAL IMPEDANCE TOMOGRAPHY ...... 8781 B. Schullcke, S. Krueger-Ziolek, B. Gong, K. Moeller

ITERATIVE LEARNING CONTROL AND SYSTEM IDENTIFICATION OF THE ANTAGONISTIC KNEE MUSCLE COMPLEX DURING GAIT USING FUNCTIONAL ELECTRICAL STIMULATION...... 8786 Philipp Müller, Cécile Balligand, Thomas Seel, Thomas Schauer

ADAPTIVE CONTROL OF A NEUROPROSTHESIS FOR STROKE PATIENTS AMPLIFYING WEAK RESIDUAL SHOULDER-MUSCLE ACTIVITY ...... 8792 C. Klauer, T. Schauer

ELIMINATING THE EFFECT OF MAGNETIC DISTURBANCES ON THE INCLINATION ESTIMATES OF INERTIAL SENSORS* ...... 8798 Thomas Seel, Stefan Ruppin

ROBUST GAIN-SCHEDULED CONTROL OF VARIABLE STIFFNESS ACTUATORS ...... 8804 Berno J. E. Misgeld, Lukas Hewing, Lin Liu, Steffen Leonhardt

A SURVEY ON CONTROL CONFIGURATION SELECTION AND NEW CHALLENGES IN RELATION TO WIRELESS SENSOR AND ACTUATOR NETWORKS ...... 8810 Miguel Castaño Arranz, Wolfgang Birk, George Nikolakopoulos

INTEGRATED COMMUNICATION AND CONTROL FOR COLLECTIVE MOTION WITH LIMITED COMMUNICATION ...... 8826 Huan Gao, Yongqiang Wang

LOCALIZATION AND THREE-DIMENSIONAL CIRCUMNAVIGATION OF MANY MOBILE TARGETS BASED ON DISTANCE MEASUREMENTS* ...... 8832 Alexey S. Matveev, Anna A. Semakova

PARTITIONING FOR LARGE-SCALE SYSTEMS: A SEQUENTIAL DISTRIBUTED MPC DESIGN *...... 8838 J. Barreiro-Gomez, C. Ocampo-Martinez, N. Quijano

A TWO-LAYER DECENTRALIZED APPROACH TO THE OPTIMAL ENERGY MANAGEMENT OF A BUILDING DISTRICT WITH A SHARED THERMAL STORAGE*...... 8844 Daniele Ioli, Luca Deori, Alessandro Falsone, Maria Prandini

DECENTRALISED SLIDING MODE CONTROL FOR NONLINEAR INTERCONNECTED SYSTEMS IN THE GENERALISED REGULAR FORM ...... 8850 Jianqiu Mu, Xing-Gang Yan, Qingling Zhang, Zehui Mao

OPTIMAL INTEGRATION OF BATTERY ENERGY STORAGE SYSTEMS AND CONTROL OF ACTIVE POWER CURTAILMENT FOR DISTRIBUTION GENERATION * ...... 8856 D. Baltensperger, A. Buechi, F. R. Segundo Sevilla, P. Korba

SIZING OF ENERGY STORAGE SYSTEMS CONSIDERING UNCERTAINTY ON DEMAND AND GENERATION...... 8861 Martina Bucciarelli, Antonio Giannitrapani, Simone Paoletti, Antonio Vicino, Donato Zarrilli

COOPERATIVE DISTRIBUTED CONTROL FOR THE ENERGY SCHEDULING OF SMART HOMES WITH SHARED ENERGY STORAGE AND RENEWABLE ENERGY SOURCE ...... 8867 Raffaele Carli, Mariagrazia Dotoli

PERFORMANCE LIMITS OF THERMOSTATICALLY CONTROLLED LOADS UNDER PROBABILISTIC SWITCHING ...... 8873 Md Salman Nazir, Stephanie C. Ross, Johanna L. Mathieu, Ian A. Hiskens

CONSENSUS-BASED COORDINATION OF ELECTRIC VEHICLE CHARGING* ...... 8881 Suli Zou, Ian Hiskens, Zhongjing Ma, Xiangdong Liu

NOISE AND PARAMETER HETEROGENEITY IN AGGREGATE MODELS OF THERMOSTATICALLY CONTROLLED LOADS...... 8888 Md Salman Nazir, Ian A. Hiskens

LEAST SQUARE ADAPTATION OF A FAST DIESEL ENGINE NOX EMISSIONS MODEL...... 8895 Ivan Arsie, Andrea Cricchio, Matteo De Cesare, Cesare Pianese, Marco Sorrentino

ONLINE OPTIMISATION OF FUEL CONSUMPTION SUBJECT TO NOX CONSTRAINTS ...... 8901 Miguel Ramos, Chris Manzie, Rohan Shekhar

STOCHASTIC PREDICTION OF LANE CHANGE TRAJECTORIES FOR ADAPTIVE CRUISE CONTROL...... 8907 Dominik Moser, Matthias Reiter, Luigi Del Re

ONLINE ENERGY MANAGEMENT SYSTEM (EMS) INCLUDING ENGINE AND CATALYST TEMPERATURES FOR A PARALLEL HEV...... 8913 D. Maamria, A. Sciarretta, F. Chaplais, N. Petit

DIESEL ENGINE CONTROL WITH EXHAUST AFTERTREATMENT CONSTRAINTS ...... 8921 Esteban R. Gelso, Johan Dahl

SIMULTANEOUS REDUCTION OF FUEL CONSUMPTION AND NOX EMISSIONS THROUGH HYBRIDIZATION OF A LONG HAULAGE TRUCK ...... 8927 Olov Holmer, Lars Eriksson

DISTRIBUTED MODEL PREDICTIVE CONTROL WITH EVENT-BASED OPTIMIZATION* ...... 8933 Ramin Rostami, Daniel Görges

A COLLISION-FREE COMMUNICATION SCHEDULING FOR NONLINEAR MODEL PREDICTIVE CONTROL ...... 8939 Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

EVENT-BASED TRANSMISSION SCHEDULING AND LQG CONTROL OVER A PACKET DROPPING LINK ...... 8945 Alex S. Leong, Daniel E. Quevedo, Takashi Tanaka, Subhrakanti Dey, Anders Ahlén

OUTPUT-BASED EVENT-TRIGGERED MODEL PREDICTIVE CONTROL FOR NETWORKED CONTROL SYSTEMS*...... 8951 Felix Berkel, Benjamin Watkins, Steven Liu, Daniel Görges

LINEAR QUADRATIC STOCHASTIC DIFFERENTIAL GAMES UNDER ASYMMETRIC VALUE OF INFORMATION* ...... 8957 Dipankar Maity, John S. Baras

VALUE OF INFORMATION IN MINIMUM-RATE LQG CONTROL...... 8963 Touraj Soleymani, Sandra Hirche, John S. Baras

NEURAL NETWORK CONTROL OF A ROBOTIC MANIPULATOR WITH TIME-VARYING OUTPUT CONSTRAINTS BY STATE FEEDBACK *...... 8969 Haifeng Huang, Wei He, Shuang Zhang

A PREDICTIVE APPROACH TO REDUNDANCY RESOLUTION FOR ROBOT MANIPULATORS ...... 8975 Marco Faroni, Manuel Beschi, Lorenzo Molinari Tosatti, Antonio Visioli

MANEUVERABILITY ANALYSIS OF A FULLY-ACTUATED HEXROTOR UAV CONSIDERING TILT ANGLES AND ARRANGEMENT OF ROTORS...... 8981 Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei

ON SYNCHRONOUS BINARY LOG-LINEAR LEARNING AND SECOND ORDER Q-LEARNING*...... 8987 Mohammadhosein Hasanbeig, Lacra Pavel

PHYSICS-BASED MOTION PLANNING WITH TEMPORAL LOGIC SPECIFICATIONS...... 8993 Muhayyuddin, Aliakbar Akbari, Jan Rosell

ANGULAR VELOCITY AND TORQUE ESTIMATION FROM VECTOR MEASUREMENTS...... 9000 Lionel Magnis, Nicolas Petit

A RELAX-AND-FIX HEURISTIC APPROACH FOR THE CAPACITATED DYNAMIC LOT SIZING PROBLEM IN INTEGRATED MANUFACTURING/REMANUFACTURING SYSTEMS...... 9008 Abdolreza Roshani, Davide Giglio, Massimo Paolucci

SIMULATION MODEL OF A QUALITY CONTROL LABORATORY IN PHARMACEUTICAL INDUSTRY*...... 9014 Andrea Costigliola, Filipe A. P. Ataíde, Susana M. Vieira, João M. C. Sousa

AN ADAPTIVE DATA-DRIVEN MODEL FOR ERRATIC DEMAND FORECASTING ...... 9020 P. Jiang, X. Liu, Y. Huang, Y. Yuan

DEVELOPMENT OF A RISK MATRIX FOR THE ASSESSMENT OF MAINTENANCE SUPPLIERS: A STUDY BASED ON EMPIRICAL KNOWLEDGE ...... 9026 Katarzyna Antosz, Dorota Stadnicka, R. M. Chandima Ratnayake

CRUDE SELECTION INTEGRATED WITH OPTIMAL REFINERY OPERATION BY COMBINING OPTIMAL LEARNING AND MATHEMATICAL PROGRAMMING...... 9032 Joohyun Shin, Jay H. Lee

IDLING POLICIES FOR PERIODIC REVIEW INVENTORY CONTROL *...... 9038 André F. Santos, Carlos F. Bispo

A VALVE STICTION TOLERANT FORMULATION OF MPC FOR INDUSTRIAL PROCESSES ...... 9044 Riccardo Bacci Di Capaci, Marco Vaccari, Gabriele Pannocchia

ENERGY SAVINGS IN DATA CENTERS: A FRAMEWORK FOR MODELLING AND CONTROL OF SERVERS’ COOLING*...... 9050 Riccardo Lucchese, Jesper Olsson, Anna-Lena Ljung, Winston Garcia-Gabin, Damiano Varagnolo

A HIERARCHICAL MPC FOR MULTI-OBJECTIVE MIXED-INTEGER OPTIMISATION APPLIED TO REDUNDANT REFRIGERATION CIRCUITS ...... 9058 Elisabeth Luchini, Alexander Schirrer, Martin Kozek

ONLINE CONSTRAINT ADAPTATION IN ECONOMIC MODEL PREDICTIVE CONTROL...... 9065 Olle Trollberg, Cristian R. Rojas, Elling W. Jacobsen

ADVANCED-STEP NONLINEAR MODEL PREDICTIVE CONTROL BASED ON CONTRACTION ANALYSIS...... 9071 Ruigang Wang, Jie Bao

AN ADAPTIVE DUAL MPC SCHEME BASED ON OUTPUT ERROR MODELS PARAMETERIZED USING GENERALIZED ORTHONORMAL BASIS FILTERS ...... 9077 Kunal Kumar, Sachin C. Patwardhan, Santosh Noronha

TRAJECTORY PLANNING WITH MISCELLANEOUS SAFETY CRITICAL ZONES* ...... 9083 J. Nilsson, J. Fredriksson, E. Coelingh

AN AUTOMATED PARALLEL PARKING STRATEGY USING REACH CONTROL THEORY * ...... 9089 Melkior Ornik, Miad Moarref, Mireille E. Broucke

PLANAR INEQUALITY CONSTRAINTS FOR STABLE, COLLISION-FREE MODEL PREDICTIVE CONTROL OF A QUADCOPTER...... 9095 Peter T. Jardine, Sidney Givigi, Shahram Yousefi

A HIERARCHICAL PLANNING AND CONTROL FRAMEWORK FOR STRUCTURED HIGHWAY DRIVING ...... 9101 Shiying Zhou, Yizhou Wang, Minghui Zheng, Masayoshi Tomizuka

SMOOTH PATH-GENERATION AROUND OBSTACLES USING QUARTIC SPLINES AND RRTS...... 9108 Faris Janjoš, Ron Reichart, Philipp Niermeyer

SPLINE-BASED MOTION PLANNING FOR AUTOMATED DRIVING...... 9114 Christian Götte, Martin Keller, Till Nattermann, Carsten Haß, Karl-Heinz Glander, Torsten Bertram

USING INTERACTIVE TOOLS TO CREATE AN ENTHUSIASM FOR CONTROL IN AEROSPACE AND CHEMICAL ENGINEERS...... 9120 J. A. Rossiter

REVEALING THE HIDDEN TECHNOLOGY BY MEANS OF AN OVERHEAD CRANE ...... 9126 Fabrizio Padula, Riccardo Adamini, Giovanna Finzi, Antonio Visioli

VIRTUAL AND REMOTE LABORATORY WITH THE BALL AND PLATE SYSTEM ...... 9132 Ernesto Fabregas, Sebastián Dormido-Canto, Sebastián Dormido

LOW-COST CARRY-HOME MOBILE PLATFORMS FOR PROJECT-BASED EVALUATION OF CONTROL THEORY*...... 9138 Armin Steinhauser, Maarten Verbandt, Niels Van Duijkeren, Ruben Van Parys, Laurens Jacobs, Jan Swevers, Goele Pipeleers

HOME I/O AND FACTORY I/O: A VIRTUAL HOUSE AND A VIRTUAL PLANT FOR CONTROL EDUCATION...... 9144 B. Riera, B. Vigário

A KHEPERA IV LIBRARY FOR ROBOTIC CONTROL EDUCATION USING V-REP ...... 9150 G. Farias, E. Fabregas, E. Peralta, E. Torres, S. Dormido

E-HEALTH: BIOMEDICAL INSTRUMENTATION WITH ARDUINO ...... 9156 S. T. Puente, A. Úbeda, F Torres

MODELING AND CONTROL OF A RADIO-CONTROLLED MODEL RACING CAR...... 9162 T. C. J. Romijn, W. H. A. Hendrix, M. C. F. Donkers

AN OPEN SOFTWARE - OPEN HARDWARE LAB OF THE AIR LEVITATION SYSTEM...... 9168 Jacobo Saenz, Jesus Chacon, Luis De La Torre, Sebastian Dormido

LOW COST TWO-WHEELS SELF-BALANCING ROBOT FOR CONTROL EDUCATION ...... 9174 C. Gonzalez, I. Alvarado, D. Muñoz La Peña

USING LOW-COST OPEN SOURCE HARDWARE TO CONTROL PUMA560 MOTORS ...... 9180 P. Reguera, S. Alonso, M. Domínguez, M. A. Prada, A. Moran, J. J. Fuertes

A COMPLEX NETWORK DEPLOYMENT SUITABLE FOR MODERN POWER DISTRIBUTION ANALYSIS AT THE PRIMARY CONTROL LEVEL...... 9186 Antonio T. Alexandridis, Panos C. Papageorgiou

FINITE-DIMENSIONAL ADAPTIVE ERROR FEEDBACK OUTPUT REGULATION FOR 1D WAVE EQUATION* ...... 9192 Wei Guo, Miroslav Krstic

PROCESS PARAMETERS ESTIMATION, PERFORMANCE ASSESSMENT AND CONTROLLER RETUNING BASED ON THE FINAL VALUE THEOREM: SOME EXTENSIONS ...... 9198 Massimiliano Veronesi, Antonio Visioli

FXLMS VERSUS H∞ CONTROL FOR BROADBAND ACOUSTIC NOISE ATTENUATION IN A CAVITY...... 9204 Chaouki Boultifat, Paul Loiseau, Philippe Chevrel, Jérôme Lohéac, Mohamed Yagoubi

NETWORK DESIGN IN THE PRESENCE OF A LINK JAMMER: A ZERO-SUM GAME FORMULATION...... 9211 Ioannis Kordonis, George P. Papavassilopoulos

ON THE MAXIMAL CONTROLLER GAIN IN LINEAR MPC ...... 9218 Moritz Schulze Darup, Michael Jost, Gabriele Pannocchia, Martin Mönnigmann

FORMULATION AND NUMERICAL SOLUTION FOR FRACTIONAL ORDER TIME OPTIMAL CONTROL PROBLEM USING PONTRYAGIN’S MINIMUM PRINCIPLE ...... 9224 S. Sepehr Tabatabaei, Mohammad Javad Yazdanpanah, Mohammad Saleh Tavazoei

PRACTICAL TUNING ALGORITHM OF PDµ CONTROLLER FOR PROCESSES WITH TIME DELAY ...... 9230 M. M. Ozyetkin, N. Tan

ON HIGHER-ORDER LINEAR PORT-HAMILTONIAN SYSTEMS AND THEIR DUALS*...... 9236 P. Rapisarda, J. C. Mayo Maldonado

SYSTEM PROPERTIES OF IMPLICIT PASSIVE ELECTRICAL NETWORKS DESCRIPTIONS ...... 9242 Nicos Karcanias, Maria Livada, John Leventides

PARAMETRIC FORMAL VERIFICATION: THE ROBOTIC PAINT SPRAYING CASE STUDY ...... 9248 Luca Geretti, Riccardo Muradore, Davide Bresolin, Paolo Fiorini, Tiziano Villa

ABSTRACTION REFINEMENT AND PLAN REVISION FOR CONTROL SYNTHESIS UNDER HIGH LEVEL SPECIFICATIONS* ...... 9254 Pierre-Jean Meyer, Dimos V. Dimarogonas

AUTOMATED MODE COVERAGE ANALYSIS FOR CYBER-PHYSICAL SYSTEMS USING HYBRID AUTOMATA* ...... 9260 Johan Eddeland, Javier Gil Cepeda, Rick Fransen, Sajed Miremadi, Martin Fabian, Knut Åkesson

CHAIN OF SET INVERSION PROBLEMS APPLICATION TO REACHABILITY ANALYSIS...... 9266 Benoit Desrochers, Luc Jaulin

DETECTABILITY OF NONDETERMINISTIC FINITE TRANSITION SYSTEMS*...... 9272 Kuize Zhang, Majid Zamani

MULTIRATE SYMBOLIC MODELS FOR INCREMENTALLY STABLE SWITCHED SYSTEMS *...... 9278 Adnane Saoud, Antoine Girard

ON THE CORRESPONDENCE OF HYPERBOLIC GEOMETRY AND SYSTEM ANALYSIS...... 9285 István Gozse, Tamás Péni, Tamás Luspay, Alexandros Soumelidis

CLOSED FORM EXPRESSIONS OF LINEAR DISCRETE TIME SYSTEM RESPONSES* ...... 9291 Sven Þ. Sigurðsson, Anna Soffía Hauksdóttir

DESIGN OF RECEDING-HORIZON ESTIMATORS FOR THE BATTERY ASSEMBLY SYSTEM ...... 9297 Pawe Majdzik, Marcin Witczak, Lothar Seybold, Piotr Witczak

DELTA-SIGMA CONVERSION FOR GRAPH SIGNALS * ...... 9303 N. Imoda, S. Azuma, T. Kitao, T. Sugie

EVENT-TRIGGERED NONLINEAR MODEL PREDICTIVE CONTROL WITH BOUNDED DISTURBANCES AND STATE-DEPENDENT UNCERTAINTIES* ...... 9308 Mengzhi Wang, Jian Sun

FAULT-TOLERANT SCHEDULING OF NON-PREEMPTIVE PERIODIC TASKS USING SCT OF TIMED DES ON UNIPROCESSOR SYSTEMS...... 9315 Rajesh Devaraj, Arnab Sarkar, Santosh Biswas

LOAD-DEPENDENT START-STOP OF GENSETS MODELED AS A HYBRID DYNAMICAL SYSTEM ...... 9321 Laxminarayan Thorat, Roger Skjetne

HYBRID MODEL PREDICTIVE CONTROL FRAMEWORK FOR THE THERMAL UNIT COMMITMENT PROBLEM INCLUDING START-UP AND SHUTDOWN POWER TRAJECTORIES...... 9329 Ashok Krishnan, Foo Y. S. Eddy, Bhagyesh V. Patil

HYBRID CONTROL SCHEME FOR A HALF-BRIDGE INVERTER...... 9336 C. Albea, O. Lopez Santos, D. A. Zambrano Prada, F. Gordillo, G. Garcia

FAST ROBUST MODEL PREDICTIVE CONTROL FOR NONLINEAR JUMP MARKOV SYSTEMS ...... 9342 Jens Tonne, Olaf Stursberg

CONSENSUS ANALYSIS OF SYSTEMS WITH TIME-VARYING INTERACTIONS : AN EVENT- TRIGGERED APPROACH...... 9349 S. Arun Kumar, N. R. Chowdhury, S. Srikant, J. Raisch

SWITCH OBSERVABILITY FOR HOMOGENEOUS SWITCHED DAES*...... 9355 Ferdinand Küsters, Stephan Trenn, Andreas Wirsen

PART 15

SECURE MODE DISTINGUISHABILITY FOR SWITCHING SYSTEMS SUBJECT TO SPARSE ATTACKS...... 9361 Gabriella Fiore, Elena De Santis, Maria Domenica Di Benedetto

FORMATION CONTROL FOR MULTI-AGENT SYSTEMS WITH CONNECTIVITY PRESERVATION AND EVENT-TRIGGERED CONTROLLERS* ...... 9367 Xinlei Yi, Jieqiang Wei, Dimos V. Dimarogonas, Karl H. Johansson

DETECTION OF MODE CONFUSION IN HUMAN-MACHINE SYSTEM MODEL WITH TEMPORAL INFORMATION ON OPERATIONS...... 9374 Yoshiki Maeda, Toshimitsu Ushio

AN ITERATIVE APPROACH TO REDUCE SYSTEMIC RISK AMONG FINANCIAL INSTITUTES*...... 9380 Xiang-Shen Ye, Ruo-Bing Xue, Jian-Jun Gao, Xi-Ren Cao

MEASUREMENT OF THE RELATIVE DISTANCE BETWEEN PICO-SATELLITES AT THE CONSTELLATION ...... 9386 A. V. Nebylov, A. E. Medina Padron, A. I. Panferov

ALMOST SURE ATTITUDE CONSENSUS IN MULTISPACECRAFT SYSTEMS WITH STOCHASTIC COMMUNICATION LINKS...... 9392 Hamed Rezaee, Farzaneh Abdollahi

OPTIMAL RECONFIGURATION OF FORMATION FLYING USING A DIRECT SEQUENTIAL METHOD*...... 9398 Jing Chu, Zhou Zhou, Juan Guo

VELOCITY FIELD GENERATION FOR DENSITY CONTROL OF SWARMS USING HEAT EQUATION AND SMOOTHING KERNELS*...... 9405 Utku Eren, Behçet Açikmese

A HIERARCHICAL CONTROL OF A LI-ION BATTERY CHARGER FOR MORE ELECTRIC AIRCRAFT ...... 9412 Said Talbi, Augustin Mpanda Mabwe, Ahmed El Hajjaji

EFFECT OF SUPERCAPACITORS SUPPLY ON THE HIGH TORQUE FLYWHEEL FOR SATELLITE POWER SYSTEM...... 9419 Qiuxuan Wu, Mingang Zhu, Fengfeng Li, Xiaoni Chi, Weijie Lin, Yanbin Luo, Lianwei Ma

SIMPLE SYNCHRONIZATION PROTOCOLS FOR HETEROGENEOUS NETWORKS: BEYOND PASSIVITY...... 9426 Anton V. Proskurnikov, Manuel Mazo

A COMPLEX NETWORK ANALYSIS OF MACROSCOPIC STRUCTURE OF TAXI TRIPS...... 9432 Homayoun Hamedmoghadam-Rafati, Ingrida Steponavice, Mohsen Ramezani, Meead Saberi

MODEL AND ALGORITHMS FOR COMPETITIVENESS MAXIMIZATION ON COMPLEX NETWORKS* ...... 9438 Jiuhua Zhao, Qipeng Liu, Lin Wang, Xiaofan Wang, Guanrong Chen

OPTIMAL REGULATION OF FLOW NETWORKS WITH INPUT AND FLOW CONSTRAINTS* ...... 9444 Sebastian Trip, Tjardo Scholten, Claudio De Persis

NEW CHARACTERIZATION AND CLASSIFICATION OF SYNCHRONIZATION OF MULTIPLE METRONOMES ON A CART VIA DESCRIBING FUNCTION METHOD...... 9450 X. Xin, Y. Muraoka, S. Hara, S. Izumi, T. Yamasaki

GRAPH-BASED MODEL REDUCTION OF THE CONTROLLED CONSENSUS PROTOCOL*...... 9456 Noam Leiter, Daniel Zelazo

GRAY BOX IDENTIFICATION USING DIFFERENCE OF CONVEX PROGRAMMING ...... 9462 Chengpu Yu, Lennart Ljung, Michel Verhaegen

TENSOR FACTORIZATION BASED ESTIMATES OF PARALLEL WIENER HAMMERSTEIN MODELS *...... 9468 David T. Westwick, Mariya Ishteva, Philippe Dreesen, Johan Schoukens

INPUT SELECTION IN N2SID USING GROUP LASSO REGULARIZATION...... 9474 Måns Klingspor, Anders Hansson, Johan Löfberg, Michel Verhaegen

IMMERSION OF NONLINEAR SYSTEMS INTO HIGHER ORDER SYSTEMS ...... 9480 E. Aranda-Bricaire, C. Califano, C. H. Moog

ON NECESSARY AND SUFFICIENT CONDITIONS FOR MODE OBSERVABILITY OF A CLASS OF STATE DEPENDANT SWITCHED SYSTEMS ...... 9485 Manuel Mera, Francisco Javier Bejarano

RECURSIVE NUCLEAR NORM BASED SUBSPACE IDENTIFICATION...... 9490 B. Telsang, S. T. Navalkar, J. W. Van Wingerden

OPTIMAL STEALTHY ATTACK UNDER KL DIVERGENCE AND COUNTERMEASURE WITH RANDOMIZED THRESHOLD ...... 9496 Enoch Kung, Subhrakanti Dey, Ling Shi

ON THE PRIVACY OF OPTIMIZATION ...... 9502 P. C. Weeraddana, C. Fischione

DIFFERENTIALLY PRIVATE MAXIMUM CONSENSUS ...... 9509 Xin Wang, Jianping He, Peng Cheng, Jiming Chen

PRIVACY IN DISTRIBUTED AVERAGE CONSENSUS*...... 9515 Nirupam Gupta, Jonathan Katz, Nikhil Chopra

DIFFERENTIAL PRIVACY AND MINIMUM-VARIANCE UNBIASED ESTIMATION IN MULTI-AGENT CONTROL SYSTEMS ...... 9521 Yu Wang, Sayan Mitra, Geir E. Dullerud

ACTIVE MODEL DISCRIMINATION WITH APPLICATIONS TO FRAUD DETECTION IN SMART BUILDINGS*...... 9527 Farshad Harirchi, Sze Zheng Yong, Emil Jacobsen, Necmiye Ozay

HISTORICAL PERSPECTIVES OF THE RICCATI EQUATIONS* ...... 9535 Marc Jungers

RICCATI EQUATIONS IN NASH AND STACKELBERG DIFFERENTIAL AND DYNAMIC GAMES ...... 9547 Tamer Basar, Jun Moon

ON THE GENERALIZED ALGEBRAIC RICCATI EQUATIONS *...... 9555 A. Ferrante, L. Ntogramatzidis

A SURVEY OF RICCATI EQUATION RESULTS IN NEGATIVE IMAGINARY SYSTEMS THEORY AND QUANTUM CONTROL THEORY ...... 9561 Ian R. Petersen

ON THE STABILIZING SOLUTION OF PERIODIC RICCATI DIFFERENTIAL EQUATIONS RELATED TO A CLASS OF STOCHASTIC LINEAR QUADRATIC DIFFERENTIAL GAME*...... 9567 V. Dragan, S. Aberkane, I. Ivanov, I.-L. Popa

CONVERSE PASSIVITY THEOREMS* ...... 9573 Sei Zhen Khong, Arjan Van Der Schaft

GLOBAL STABILISATION OF UNDERACTUATED MECHANICAL SYSTEMS VIA PID PASSIVITY- BASED CONTROL...... 9577 Jose Guadalupe Romero, Alejandro Donaire, Romeo Ortega, Pablo Borja

FINITE-TIME REGULATION OF ROBOT MANIPULATORS: AN ENERGY SHAPING APPROACH * ...... 9583 Emmanuel Cruz-Zavala, Emmanuel Nuño, Jaime A. Moreno

PERFORMANCE EVALUATION AND REINFORCEMENT IN INTERCONNECTED PASSIVE SYSTEM* ...... 9589 Masaki Inoue, Kengo Urata

DESIGN AND EXPERIMENTAL VERIFICATION OF UDE-BASED ROBUST CONTROL FOR LAGRANGIAN SYSTEMS WITHOUT VELOCITY MEASUREMENTS* ...... 9595 Yang Zhu, Bo Zhu, Hugh H. T. Liu, Kaiyu Qin

STABILIZING OF BALL AND PLATE SYSTEM USING AN APPROXIMATE MODEL...... 9601 H. Alpaslan Yildiz, Leyla Gören-Sümer

SET-VALUED DISCRETE-TIME SLIDING-MODE CONTROL OF UNCERTAIN LINEAR SYSTEMS ...... 9607 Félix A. Miranda-Villatoro, Bernard Brogliato, Fernando Castaños

FINITE TIME STABILIZATION OF AN UNCERTAIN CHAIN OF INTEGRATORS BY INTEGRAL SLIDING MODE APPROACH...... 9613 Asif Chalanga, Franck Plestan

STATE FEEDBACK FINITE TIME SLIDING MODE STABILIZATION USING DIRTY DIFFERENTIATION * ...... 9619 Igor Furtat, Alexander Fradkov, Yury Orlov

NEURAL SLIDING MODE CONTROL FOR INDUCTION MOTORS USING RAPID CONTROL PROTOTYPING ...... 9625 Eduardo Quintero-Manriquez, Edgar N. Sanchez, Ronal G. Harley, Sufei Li, Ramon A. Felix

ROBUST PREDICTOR-BASED CONTROL OF UNCERTAIN LINEAR SYSTEMS WITH DELAY VIA INTEGRAL SLIDING MODE CONTROL*...... 9631 A. G. Loukianov, H. Caballero-Barragán, L. P Osuna-Ibarra, F. Plestan

VOLTAGE RESTORATION OF ISLANDED MICROGRIDS VIA COOPERATIVE SECOND-ORDER SLIDING MODE CONTROL* ...... 9637 Alessandro Pilloni, Alessandro Pisano, Elio Usai

ON GENERALIZED PROPORTIONAL ALLOCATION POLICIES FOR TRAFFIC SIGNAL CONTROL * ...... 9643 Gustav Nilsson, Giacomo Como

POPULATION GAMES ON 2–SIMPLEX: EXISTENCE AND EFFICIENCY OF NASH EQUILIBRIA...... 9649 Corrado Possieri, Jason R. Marden

NETWORK GAMES: CONDENSATION OF THE GRAPH AS A HIERARCHICAL INTERPRETATION OF THE GAME ...... 9655 G. Casadei, C. Canudas De-Wit

TRANSIENT RESPONSE ANALYSIS OF METROPOLIS LEARNING IN GAMES...... 9661 Hassan Jaleel, Jeff S. Shamma

GROUP TESTING GAME ...... 9668 Sadegh Bolouki, Mohammad Hossein Manshaei, Vida Ravanmehr, Angelia Nedic, Tamer Basar

GUARANTEES OF CONVERGENCE TO A DYNAMIC USER EQUILIBRIUM FOR A SINGLE ARC NETWORK...... 9674 Guillaume Burger, Dario Paccagnan, Basilio Gentile, John Lygeros

DATA-DRIVEN ESTIMATION OF ORIGIN-DESTINATION DEMAND AND USER COST FUNCTIONS FOR THE OPTIMIZATION OF TRANSPORTATION NETWORKS * ...... 9680 Jing Zhang, Sepideh Pourazarm, Christos G. Cassandras, Ioannis Ch. Paschalidis

OPTIMIZED MULTI-AGENT ROUTING IN GUIDEPATH NETWORKS ...... 9686 Greyson Daugherty, Spyros Reveliotis, Greg Mohler

A VEHICLE ROUTING TECHNIQUE FOR HAZARDOUS WASTE COLLECTION ...... 9694 Mariagrazia Dotoli, Nicola Epicoco

ON A VACATION QUEUE APPROACH TO QUEUE SIZE COMPUTATION FOR A SIGNALIZED TRAFFIC INTERSECTION* ...... 9700 Mohammad Motie, Ketan Savla

OPTIMAL PRE-SIGNAL CONTROL FOR BUSES AND CARS AT ISOLATED SIGNALIZED INTERSECTIONS* ...... 9706 Miran Khwais, Jack Haddad

ASSIGNMENT AND COORDINATION OF AUTONOMOUS ROBOTS IN CONTAINER LOADING TERMINALS...... 9712 Demetris Stavrou, Stelios Timotheou, Christos G. Panayiotou, Marios M. Polycarpou

STABILITY AND STABILIZATION ANALYSIS OF FRACTIONAL-ORDER LINEAR SYSTEMS SUBJECT TO ACTUATOR SATURATION AND DISTURBANCE ...... 9718 Chuang Li, Kai Chen, Junguo Lu, Rongnian Tang

H8 DYNAMIC OUTPUT FEEDBACK CONTROLLER DESIGN FOR DISTURBED FRACTIONAL-ORDER SYSTEMS...... 9724 Y. Boukal, M. Zasadzinski, M. Darouach, N. E. Radhy

NUMERICAL SOLUTION OF THE ANOMALOUS DIFFUSION EQUATION IN A RECTANGULAR DOMAIN VIA HYPERMATRIX EQUATIONS ...... 9730 Matthew Harker, Paul O’Leary

A NEW INTEGER ORDER APPROXIMATION TABLE FOR FRACTIONAL ORDER DERIVATIVE OPERATORS ...... 9736 Ali Yüce, Furkan N. Deniz, Nusret Tan

MODELING AND ADMINISTRATION SCHEDULING OF FRACTIONAL-ORDER PHARMACOKINETIC SYSTEMS*...... 9742 Domagoj Herceg, Sotiris Ntouskas, Pantelis Sopasakis, Aris Dokoumetzidis, Panos Macheras, Haralambos Sarimveis, Panagiotis Patrinos

SOLUTION TO THE FRACTIONAL-ORDER 2D CONTINUOUS SYSTEMS DESCRIBED BY THE SECOND FORNASINI-MARCHESINI MODEL* ...... 9748 Krzysztof Rogowski

A POLYTOPIC OBSERVER DESIGN APPROACH FOR LANDING CONTROL OF A QUADROTOR UAV...... 9753 Souad Bezzaoucha, Holger Voos, Mohamed Darouach

STATE FEEDBACK CONTROLLER DESIGN FOR AFFINE PARAMETER-DEPENDENT LPV SYSTEMS*...... 9760 Zhong Liu, Didier Theilliol, Feng Gu, Yuqing He, Liying Yang, Jianda Han

COMPARING GLOBAL INPUT-OUTPUT BEHAVIOR OF FROZEN-EQUIVALENT LPV STATE-SPACE MODELS...... 9766 Ziad Alkhoury, Mihály Petreczky, Guillaume Mercère

ROBUST IDENTIFICATION OF SWITCHING MARKOV ARX MODELS USING EM ALGORITHM*...... 9772 Lei Fan, Hariprasad Kodamana, Biao Huang

JOINT STATE AND PARAMETER ESTIMATION FOR DISCRETE-TIME POLYTOPIC LINEAR PARAMETER-VARYING SYSTEMS*...... 9778 H. P. G. J. Beelen, M. C. F. Donkers

MODELING AND EXPERIMENTS OF ROTARY PERCUSSIVE DRILLING FOR ROBOTIC CIVIL INFRASTRUCTURE REHABILITATION...... 9784 Chaoke Guo, Jingang Yi

TRACKING PROBLEM FOR INDUCTION ELECTRIC DRIVE UNDER INFLUENCE OF UNKNOWN PERTURBATION*...... 9790 Sergey A. Kochetkov, Svetlana A. Krasnova, Victor A. Utkin, Yuri A. Vershinin

AN ELASTIC JIB MODEL FOR THE SLEWING CONTROL OF TOWER CRANES...... 9796 Florentin Rauscher, Oliver Sawodny

DESIGN OF A ROBOTIC KNEE ASSISTIVE DEVICE (ROKAD) FOR SLIP-INDUCED FALL PREVENTION DURING WALKING...... 9802 Mitja Trkov, Shanqiang Wu, Kuo Chen, Jingang Yi, Tao Liu, Qijie Zhao

MODELLING AND CONTROL OF A ROBOTIC HULA–HOOP SYSTEM WITHOUT VELOCITY MEASUREMENTS...... 9808 Alejandro Gutiérrez-Giles, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

STATE SPACE ESTIMATION METHOD FOR THE IDENTIFICATION OF AN INDUSTRIAL ROBOT ARM ...... 9815 M. Brunot, A. Janot, F. Carrillo

MODEL PREDICTIVE CONTROL OF AN AUTONOMOUS WHEELCHAIR ...... 9821 Eugenio Ceravolo, Mauro Gabellone, Marcello Farina, Luca Bascetta, Matteo Matteucci

FORCE FEEDBACK AND PATH FOLLOWING USING PREDICTIVE CONTROL: CONCEPT AND APPLICATION TO A LIGHTWEIGHT ROBOT ...... 9827 Janine Matschek, Johanna Bethge, Pablo Zometa, Rolf Findeisen

NONLINEAR MODEL PREDICTIVE CONTROL OF A CABLE-ROBOT-BASED MOTION SIMULATOR ...... 9833 Mikhail Katliar, Jörg Fischer, Gianluca Frison, Moritz Diehl, Harald Teufel, Heinrich H. Bülthoff

RIGID TUBE MODEL PREDICTIVE CONTROL FOR LINEAR SAMPLED–DATA SYSTEMS...... 9840 F. A. C. C. Fontes, S. V. Rakovic, I. V. Kolmanovsky

PROCESSING USER INPUT IN TRACKING PROBLEMS USING MODEL PREDICTIVE CONTROL ...... 9846 M. Knauer, C. Büskens

PREDICTIVE PATH FOLLOWING OF MOBILE ROBOTS WITHOUT TERMINAL STABILIZING CONSTRAINTS* ...... 9852 Mohamed W. Mehrez, Karl Worthmann, George K. I. Mann, Raymond G. Gosine, Timm Faulwasser

OPTIMAL RESOURCE ALLOCATION FOR BACTERIAL GROWTH WITH DEGRADATION * ...... 9858 Ivan Yegorov, Francis Mairet, Jean-Luc Gouzé

NONLINEAR MODEL PREDICTIVE CONTROL FOR CIRCADIAN ENTRAINMENT USING SMALL- MOLECULE PHARMACEUTICALS ...... 9864 John H. Abel, Ankush Chakrabarty, Francis J. Doyle III

MULTI-OBJECTIVE DESIGN OF SYNTHETIC BIOLOGICAL CIRCUITS*...... 9871 Claude Lormeau, Mikolaj Rybinski, Jörg Stelling

AN INTEGRATED EXPERIMENTAL-MODELLING APPROACH OF MESENCHYMAL STEM CELL BIOPROCESS TOWARDS OSTEOGENIC DIFFERENTIATION ...... 9877 Romuald Gyorgy, Michail E. Klontzas, Margaritis Kostoglou, Nicki Panoskaltsis, Michael C. Georgiadis, Athanasios Mantalaris

ESTIMATION OF THE MAXIMUM THEORETICAL PRODUCTIVITY OF FED-BATCH BIOREACTORS* ...... 9883 Peter C. St. John, Michael F. Crowley, Yannick J. Bomble

OPTIMALITY IN CELLULAR STORAGE VIA THE PONTRYAGIN MAXIMUM PRINCIPLE...... 9889 Steffen Waldherr, Henning Lindhorst

DYNAMIC MODELLING OF THE ROTATING SUBSYSTEM OF A WIND TURBINE FOR CONTROL DESIGN PURPOSES...... 9896 Adrian Gambier

FAULT TOLERANT CONTROL OF WIND TURBINE USING ROBUST MODEL PREDICTIVE MIN-MAX APPROACH...... 9902 Mohamed A Benlahrache, Khaled Laib, Sami Othman, Nida Sheibat-Othman

A NEW DECENTRALIZED PITCH CONTROL SCHEME FOR WIND TURBINES * ...... 9908 Stefano Cacciola, Carlo E. D. Riboldi, Alessandro Croce

OBSERVER BASED BLADE-PITCH CONTROL OF WIND TURBINES OPERATING ABOVE RATED: A PRELIMINARY STUDY ...... 9914 M. L. Corradini, G. Ippoliti, G. Orlando

ACTIVE DAMPING AND DRIVE TRAIN CONTROL FOR A WIND TURBINE WITH A HYDROSTATIC TRANSMISSION AND A PMSG...... 9920 Harald Aschemann, Julia Kersten

MODELLING AND ANALYSIS OF AEROELASTIC TAILORING BLADE WIND TURBINE SYSTEMS ...... 9926 Rohaida B. Hussain, Hong Yue, William E. Leithead, Qing Xiao

CEPSTRUM ANALYSIS FOR DETERMINING THE FUNDAMENTAL FREQUENCY OF TOTAL HIP REPLACEMENT ACOUSTIC EMISSIONS ...... 9932 Anthony J. Fitzpatrick, Geoffrey W. Rodgers, Tim. B. F. Woodfield, Gary J. Hooper

VENTILATION AND CARDIAC/PERFUSION RELATED IMPEDANCE CHANGES OF THE LUNG DETERMINED BY ELECTRICAL IMPEDANCE TOMOGRAPHY IN CYSTIC FIBROSIS ...... 9938 S. Krueger-Ziolek, B. Schullcke, B. Gong, U. Müller-Lisse, K. Moeller

EIT RECONSTRUCTION USING HIGHER ORDER TV REGULARIZATION ...... 9943 B. Gong, B. Schullcke, S. Krueger-Ziolek, K. Moeller

MODEL-BASED CONTROL APPROACH FOR A CPAP-DEVICE CONSIDERING PATIENT’S BREATHING EFFORT ...... 9948 M. Scheel, T. Schauer, A. Berndt, O. Simanski

A NEW APPROACH FOR A PATIENT-COOPERATIVE UPPER LIMB FES SUPPORT BASED ON VECTOR FIELDS *...... 9954 Arne Passon, Tim Klewe, Thomas Seel, Thomas Schauer

INVESTIGATING ANISOTROPIC EIT WITH SIMULATED ANNEALING ...... 9961 Thiago C. Martins, Marcos S. G. Tsuzuki

OPTIMAL CONTROL OF PERTURBED STATIC SYSTEMS FOR SYNCHROTRON ELECTRON BEAM STABILISATION...... 9967 Sandira Gayadeen, Stephen R. Duncan, Guenther Rehm

OUTPUT FEEDBACK CONTROL OF A CLASS OF UNCERTAIN SYSTEMS UNDER CONTROL- DERIVATIVE DEPENDENT DISTURBANCES ...... 9973 M. Alamir, J. Dobrowolski, A. T. Mohammed

DRUG ADMINISTRATION IN CANCER TREATMENT VIA OPTIMAL NONLINEAR STATE FEEDBACK GAIN MATRIX DESIGN...... 9979 Ceyda Unal, Metin U. Salamci

OPTIMAL DECENTRALIZED TEMPERATURE CONTROL OF LARGE SCALE MULTI-ZONE BUILDINGS USING MINIMAL-ORDER CONTROLLERS ...... 9985 Xiao Qi Shi, Daniel E. Davison, R. Kwong, Edward J. Davison

OPTIMAL ACTUATOR DESIGN FOR MINIMIZING THE WORST-CASE CONTROL ENERGY...... 9991 Xudong Chen, M.-A. Belabbas

HIDDEN MARKOV MODEL CONTROL OF INERTIA WEIGHT ADAPTATION FOR PARTICLE SWARM OPTIMIZATION ...... 9997 Abdellatif El Afia, Malek Sarhani, Oussama Aoun

A COMMAND GOVERNOR APPROACH FOR THE VOLTAGE CONTROL IN SMART GRIDS WITH DISTRIBUTED GENERATION AND STORAGE DEVICES ...... 10003 Alessandro Casavola, Francesco Tedesco, Maurizio Vizza

A POWER CONSENSUS ALGORITHM FOR DC MICROGRIDS * ...... 10009 Claudio De Persis, Erik Weitenberg, Florian Dörfler

DISTRICT MICROGRID MANAGEMENT INTEGRATED WITH RENEWABLE ENERGY SOURCES, ENERGY STORAGE SYSTEMS AND ELECTRIC VEHICLES*...... 10015 M. P. Fanti, A. M. Mangini, M. Roccotelli, W. Ukovich

MODELING AND STABILITY OF MICROGRIDS WITH SMART LOADS ...... 10021 Lijun Zhu, David J. Hill

PART 16

ECONOMIC MODEL PREDICTIVE CONTROL FOR OPTIMAL OPERATION OF HOME MICROGRID WITH PHOTOVOLTAIC-COMBINED HEAT AND POWER STORAGE SYSTEMS* ...... 10027 Diego I. Hidalgo Rodríguez, Johanna M. A. Myrzik

A DYNAMIC MARKET MECHANISM FOR COMBINED HEAT AND POWER MICROGRID ENERGY MANAGEMENT...... 10033 Thomas R Nudell, Massimo Brignone, Michela Robba, Andrea Bonfiglio, Federico Delfino, Anuradha Annaswamy

STATE CONSTRAINED HYBRID VEHICLE OPTIMAL ENERGY MANAGEMENT: AN INTERIOR PENALTY APPROACH ...... 10040 T. Kareemulla, S. Delprat, L. Czelecz

PREDICTIVE ENERGY MANAGEMENT STRATEGY INCLUDING TRAFFIC FLOW DATA FOR HYBRID ELECTRIC VEHICLES ...... 10046 K. R. Bouwman, T. H. Pham, S. Wilkins, T. Hofman

A NOVEL ENERGY MANAGEMENT STRATEGY FOR FUEL-CELL/SUPERCAPACITOR HYBRID VEHICLES...... 10052 M. Carignano, R. Costa-Castelló, N. Nigro, S. Junco

A TWO-LAYER PREDICTIVE CONTROL FOR HYBRID ELECTRIC VEHICLES ENERGY MANAGEMENT...... 10058 Nicoleta Stroe, Sorin Olaru, Guilaume Colin, Karim Ben-Cherif, Yann Chamaillard

AUTOMATIC EVALUATION AND OPTIMIZATION OF GENERIC HYBRID VEHICLE TOPOLOGIES USING DYNAMIC PROGRAMMING...... 10065 Jan Goos, Chris Criens, Maarten Witters

INTEGRATED DESIGN OPTIMIZATION OF THE TRANSMISSION SYSTEM AND VEHICLE CONTROL FOR ELECTRIC VEHICLES...... 10072 T. Hofman, N. H. J. Janssen

ON INTEGRAL INPUT-TO-STATE STABILITY ANALYSIS OF NETWORKED CONTROL SYSTEMS...... 10078 Navid Noroozi, Roman Geiselhart, Fabian Wirth

PERFORMANCE ANALYSIS OF EVENT-TRIGGERED CONTROL SYSTEMS WITH A PROBABILISTIC TRIGGERING MECHANISM: THE SCALAR CASE ...... 10084 Burak Demirel, Alex S. Leong, Daniel E. Quevedo

SAFETY ANALYSIS FOR CONTROLLER HANDOVER IN MOBILE SYSTEMS ...... 10090 Dirk Van Dooren, Sebastian Schiessl, Adam Molin, James Gross, Karl Henrik Johansson

EVENT-TRIGGERED CONSENSUS SEEKING UNDER NON-UNIFORM TIME-VARYING DELAYS...... 10096 V. S. Dolk, M. Abdelrahim, W. P. M. H. Heemels

COMMUNICATION REQUIREMENTS IN A MASTER-SLAVE CONTROL STRUCTURE FOR OPTIMAL LOAD FREQUENCY CONTROL*...... 10102 Sebastian Trip, Claudio De Persis

ADAPTIVE CONTROL FOR LINEAR UNCERTAIN DISCRETE-TIME SYSTEMS WITH EVENT- TRIGGERED MECHANISMS ...... 10108 Daiki Ogawa, Tomohisa Hayakawa

SPARSE CONTROL FOR DYNAMIC MOVEMENT PRIMITIVES...... 10114 Patrick M. Wensing, Jean-Jacques Slotine

DENSE DISPARITY ESTIMATION IN EGO-MOTION REDUCED SEARCH SPACE* ...... 10122 Luka Fucek, Ivan Markovic, Igor Cvišic, Ivan Petrovic

COOPERATIVE COLLISION AVOIDANCE AND FORMATION CONTROL FOR OBJECTS WITH HETEROGENEOUS SHAPES*...... 10128 Vishwamithra Reddy Sunkara, Animesh Chakravarthy

PLANAR BEARING-ONLY CYCLIC PURSUIT FOR TARGET CAPTURE...... 10136 Minh Hoang Trinh, Dwaipayan Mukherjee, Daniel Zelazo, Hyo-Sung Ahn

CASCADE SYNTHESIS OF ELECTROMECHANICAL TRACKING SYSTEMS WITH RESPECT TO RESTRICTIONS ON STATE VARIABLES...... 10142 Sergey A. Kochetkov, Svetlana A. Krasnova, Aleksey S. Antipov

EVALUATION OF FEATURES FROM RGB-D DATA FOR HUMAN BODY WEIGHT ESTIMATION...... 10148 Christian Pfitzner, Stefan May, Andreas Nüchter

INVENTORY CONTROL FOR A MANUFACTURING SYSTEM UNDER UNCERTAINTY: ADAPTIVE APPROACH...... 10154 Valerii N. Azarskov, Leonid S. Zhiteckii, Klavdia Yu. Solovchuk, Olga A. Sushchenko, Roman O. Lupoi

PRICING AND LOT-SIZING FOR CONTINUOUSLY DECAYING ITEMS WITH STOCHASTIC DEMAND ...... 10160 Anna V. Kitaeva, Natalia V. Stepanova, Alexandra O. Zukovskaya

LAYOUT EVOLUTION EFFORT FOR PRODUCT FAMILY IN RECONFIGURABLE MANUFACTURING SYSTEM DESIGN ...... 10166 Hichem Haddou-Benderbal, Mohammed Dahane, Lyes Benyoucef

ON INVENTORY CONTROL FOR PERISHABLE INVENTORY SYSTEMS SUBJECT TO UNCERTAINTIES ON CUSTOMER DEMANDS...... 10172 Rosa Abbou, Jean Jacques Loiseau, Hajer Khaldi, Berna Bou Farraa

A MULTIPARAMETRIC MIXED-INTEGER BI-LEVEL OPTIMIZATION STRATEGY FOR SUPPLY CHAIN PLANNING UNDER DEMAND UNCERTAINTY* ...... 10178 Styliani Avraamidou, Efstratios N. Pistikopoulos

FINITE STATE ESTIMATION AND CONTROL OF A MULTI-INPUT CSTR BENCHMARK*...... 10184 Enso Ikonen, István Selek, Kaddour Najim

ROBUST SOFT SENSOR DEVELOPMENT USING MULTI-RATE MEASUREMENTS*...... 10190 Ouyang Wu, Hariprasad Kodamana, Nabil Magbool Jan, Ruomu Tan, Biao Huang

DYNAMICAL HYBRID OBSERVER FOR PRESSURE SWING ADSORPTION PROCESSES ...... 10196 Mohammad Fakhroleslam, Ramin Bozorgmehry Boozarjomehry, Shohreh Fatemi, Gabriella Fiore

DISTRIBUTED STATE ESTIMATION FOR MICROGRIDS ...... 10202 Md Masud Rana, Li Li, Steven W. Su

STATE PROFILE ESTIMATION IN A BIOMASS GASIFICATION TUBULAR REACTOR...... 10208 Ulises Badillo-Hernández, Isrrael Nájera, Jesús Álvarez, Luis A. Álvarez-Icaza

MODEL PREDICTIVE CONTROL OF A ZINC FLOTATION BANK USING ONLINE X-RAY FLUORESCENCE ANALYSERS...... 10214 K. S. Brooks, R. Koorts

FLOTATION PLANT-WIDE CONTROL STRATEGY EVALUATED ON HYBRID PILOT PLANT ...... 10220 Luis Bergh, Juan Yianatos, Cristian Cortes

SUPERVISORY CONTROL EVALUATION ON A HYBRID PILOT JAMESON FLOTATION CELL...... 10226 Luis Bergh, Juan Yianatos, Andrés Ulloa

MODEL PREDICTIVE CONTROL OF AN EXOTHERMIC PRESSURE LEACH CIRCUIT ...... 10232 K. Brooks, J. Burchell, F. Pieterse

HYBRID PREDICTION MODEL OF CARBON EFFICIENCY FOR SINTERING PROCESS* ...... 10238 Jie Hu, Min Wu, Xin Chen, Jinhua She, Weihua Cao, Luefeng Chen, Huafeng Ding

ADAPTIVE EXPERT GENERALIZED PREDICTIVE MULTIVARIABLE CONTROL OF SEAWATER RO DESALINATION PLANT FOR A MINERAL PROCESSING FACILITY ...... 10244 R. Rivas-Perez, J. Sotomayor-Moriano, C. G. Perez-Zuñiga

TRAJECTORY TRACKING OF OMNI-DIRECTIONAL MOBILE ROBOTS VIA PREDICTIVE CONTROL PLUS A FILTERED SMITH PREDICTOR...... 10250 Jessivaldo Santos, André G. S. Conceição, Tito L. M. Santos

AN OPEN BENCHMARK FOR DISTRIBUTED FORMATION FLIGHT CONTROL OF FIXED-WING UNMANNED AIRCRAFT SYSTEMS ...... 10256 Jan Bolting, Martin Stolle, Soheib Fergani, Jean-Marc Biannic, François Defay

ENVIRONMENTAL FORCE REFLECTION IN AN ADMITTANCE CONFIGURED HAPTIC INTERFACE FOR TELEOPERATION OF VTOL AERIAL ROBOTS...... 10262 Xiaolei Hou, Hua Lan, Xiaojun Xing, Yaohong Qu, Dongli Yuan, Jianguo Yan, Panfeng Huang

ALMOST-GLOBAL EXPONENTIAL TRACKING OF A VARIABLE PITCH QUADROTOR ON SE(3) ...... 10268 Ashutosh Simha, Sharvaree Vadgama, Soumyendu Raha

AUTONOMOUS EXPLORATION WITH PREDICTION OF THE QUALITY OF VISION-BASED LOCALIZATION...... 10274 Hélène Roggeman, Julien Marzat, Anthelme Bernard-Brunel, Guy Le Besnerais

FINITE TIME TRACKING CONTROL FOR A SMALL UAV USING INPUT-OUTPUT LINEARIZATION*...... 10280 Matteo Guerra, Carsten Döll

A GEOMETRIC PULLING FORCE CONTROLLER FOR AERIAL ROBOTIC WORKERS* ...... 10287 David Wuthier, Dariusz Kominiak, Emil Fresk, George Nikolakopoulos

BOOSTED FLIGHT CONTROLLER FOR QUADROTOR NAVIGATION UNDER DISTURBANCES ...... 10293 Y. Bouzid, H. Siguerdidjane, Y. Bestaoui

PASSIVE AERIAL GRASPING OF FERROUS OBJECTS...... 10299 Usman A. Fiaz, N. Toumi, Jeff S. Shamma

OBSERVER-BASED TIME-VARYING BACKSTEPPING CONTROL FOR PARROT’S AR.DRONE 2.0...... 10305 J. Santiaguillo-Salinas, M. A. Rosaldo-Serrano, E. Aranda-Bricaire

A DYNAMIC ANALYSIS OF GROUND EFFECT FOR A QUADROTOR PLATFORM ...... 10311 Davide Del Cont Bernard, Fabio Riccardi, Mattia Giurato, Marco Lovera

INVESTIGATION OF 3D RECONSTRUCTION FROM TIME-SERIES IMAGES BY TOWING CAMERA*...... 10317 Keita Nakamura, Kizuku Mineta, Keitaro Naruse

A STUDY ON CAMERA ARRAY AND ITS APPLICATIONS* ...... 10323 Dong Wang, Quan Pan, Chunhui Zhao, Jinwen Hu, Zhao Xu, Feng Yang, Yihui Zhou

CONNECTION BETWEEN QUANTISATION AND BANDWIDTH REQUIREMENTS OF DISTRIBUTED MODEL PREDICTIVE CONTROL ...... 10329 Tobias Sprodowski, Juliana K. Sagawa, Jürgen Pannek

STRING STABILITY TOWARDS LEADER THANKS TO ASYMMETRIC BIDIRECTIONAL CONTROLLER*...... 10335 Arash Farnam, Alain Sarlette

FAULT ESTIMATION AND NETWORKED RECONFIGURATION IN LARGE-SCALE CONTROL SYSTEMS*...... 10342 Lórinc Márton, Kai Schenk, Jan Lunze

ADAPTIVE COMPENSATION OF ACTUATOR FAILURES USING MULTIPLE MODELS...... 10350 Arghya Chakravarty, Tousif Khan Nizami, Indrani Kar, Chitralekha Mahanta

CONSENSUS DISTURBANCE REJECTION OF NETWORK-CONNECTED DYNAMIC SYSTEMS WITH INPUT DELAY AND UNKNOWN NETWORK CONNECTIVITY* ...... 10357 Chunyan Wang, Junyong Sun, Zongyu Zuo, Zhengtao Ding

SWITCHED FAULT TOLERANT CONTROL FOR A QUADROTOR UAV ...... 10363 Hasan Basak, Emmanuel Prempain

SUPPORT TECHNOLOGY FOR SAFE PREVENTIVE MAINTENANCE OF CONTROL SYSTEMS...... 10369 Koichi Suyama, Noboru Sebe

ROBUST SWITCHED H∞ PI OBSERVER-BASED CONTROLLER: VEHICLE DYNAMICS APPLICATION ...... 10377 Lghani Menhour, Damien Koenig, Brigitte D’Andréa-Novel

LAZY WORKERS BENEFIT GROUP PERFORMANCE IN CIRCLE FORMATION TASKS*...... 10383 Chen Wang, Guangming Xie

DISTRIBUTED H2-OPTIMIZED OUTPUT FEEDBACK CONTROLLER DESIGN USING THE ADMM...... 10389 Jan Eilbrecht, Martin Jilg, Olaf Stursberg

SPARSE MEMORYLESS LQR DESIGN FOR UNCERTAIN LINEAR TIME-DELAY SYSTEMS...... 10395 M. Bahavarnia, N. Motee

STABILISATION OF POWER CONVERTERS WITH UNCERTAIN EQUILIBRIUM: AN ADAPTIVE SWITCHED APPROACH WITH GUARANTEE OF STABILITY IN CONTINUOUS AND DISCONTINUOUS CONDUCTION MODES...... 10401 G. Beneux, P. Riedinger, J. Daafouz, L. Grimaud

AN ERROR-ENTROPY MINIMIZATION ALGORITHM FOR TRACKING CONTROL OF NONLINEAR STOCHASTIC SYSTEMS WITH NON-GAUSSIAN VARIABLES*...... 10407 Yunlong Liu, Aiping Wang, Lei Guo, Hong Wang

DOUBLE LOOP CONTROL DESIGN FOR BOOST CONVERTERS BASED ON FREQUENCY RESPONSE DATA*...... 10413 Ricardo Alzate, Vilma A. Oliveira, Rafael F. Q. Magossi, Shankar P. Bhattacharyya

DECENTRALIZED ADAPTIVE CONTROL FOR INTERCONNECTED NONLINEAR SYSTEMS WITH INPUT QUANTIZATION...... 10419 Jing Zhou

ADAPTIVE CONTROL OF QUANTIZED UNCERTAIN NONLINEAR SYSTEMS...... 10425 Jing Zhou, Wei Wang

MODEL-BASED FRACTIONAL ORDER CONTROLLER DESIGN ...... 10431 Z. Yakoub, M. Chetoui, M. Amairi, M. Aoun

DATA-DRIVEN CONTROLLER DESIGN FOR ATOMIC-FORCE MICROSCOPY ...... 10437 Christoph Kammer, Adrian P. Nievergelt, Georg E. Fantner, Alireza Karimi

STABILITY AND HOPF BIFURCATION OF FRACTIONAL GENETIC REGULATORY NETWORKS WITH DIFFUSION ...... 10443 Dandan Yue, Zhi-Hong Guan, Ming Chi, Bin Hu, Zhi-Wei Liu, Jie Chen

ITERATIVE CONVEX OVERBOUNDING ALGORITHMS FOR BMI OPTIMIZATION PROBLEMS ...... 10449 E. C. Warner, J. T. Scruggs

EFFICIENT PLANNING OF OPTIMAL TRAJECTORY FOR A FURUTA DOUBLE PENDULUM USING DISCRETE MECHANICS AND OPTIMAL CONTROL ...... 10456 Jawad Ismail, Steven Liu

A LINEAR PROGRAMMING-BASED ITERATIVE APPROACH TO STABILIZING POLYNOMIAL DYNAMICS ...... 10462 Mohamed Amin Ben Sassi, Ezio Bartocci, Sriram Sankaranarayanan

MAXIMUM ENTROPY ESTIMATION VIA GAUSS-LP QUADRATURES *...... 10470 Maxime Thély, Tobias Sutter, Peyman Mohajerin Esfahani, John Lygeros

OBSTACLE AVOIDANCE PROBLEM FOR DRIFTLESS NONLINEAR SYSTEMS WITH OSCILLATING CONTROLS...... 10476 Alexander Zuyev, Victoria Grushkovskaya

VISION BASED ANTI-WINDUP DESIGN WITH APPLICATION TO THE LANDING OF AN AIRLINER...... 10482 Laurent Burlion, Henry De Plinval

AUTONOMOUS LANDING OF A MULTIROTOR MICRO AIR VEHICLE ON A HIGH VELOCITY GROUND VEHICLE*...... 10488 Alexandre Borowczyk, Duc-Tien Nguyen, André Phu-Van Nguyen, Dang Quang Nguyen, David Saussie, Jerome Le Ny

STABILITY ENHANCEMENT OF A VISION-BASED HELICOPTER CONTROL LAW BY ANTI-WINDUP FILTERS ...... 10495 Quang Huy Truong, Thomas Rakotomamonjy, Jean-Marc Biannic

AUTONOMOUS QUADROTOR LANDING USING VISION AND PURSUIT GUIDANCE ...... 10501 Alvika Gautam, P. B. Sujit, Srikanth Saripalli

HELICOPTER SHIP LANDING USING VISUAL SERVOING ON A MOVING PLATFORM...... 10507 Thomas Rakotomamonjy, Quang Huy Truong

PERFORMANCE ANALYSIS OF SATURATED PARAMETER-VARYING SYSTEMS WITH APPLICATION TO VISION-BASED LANDING ASSESSMENT...... 10513 Jean-Marc Biannic, Laurent Burlion

LITERATURE REVIEW OF BUILDING INFORMATION MODELING (BIM) INTENDED FOR THE PURPOSE OF RENOVATION PROJECTS...... 10518 L. Joblot, T. Paviot, D. Deneux, S. Lamouri

FUNCTIONAL PROGRAMMING FOR BUSINESS PROCESS MODELING...... 10526 Abhishek Saini, Laurent Thiry

GAME THEORY MODEL OF A PRODUCTION RESOURCE SHARING PROBLEM: STUDY OF POSSIBLE CHEATINGS ...... 10532 M. El Moufid, D. Roy, S. Hennequin, T. Cortade

MBSE AND V&V: A TOOL-EQUIPPED METHOD FOR COMBINING VARIOUS V&V STRATEGIES...... 10538 B. Nastov, V. Chapurlat, F. Pfister, C. Dony

RISK MODEL TO SUPPORT THE GOVERNANCE OF COLLABORATIVE ECOSYSTEMS...... 10544 A. Abreu, J. M. F. Calado

A TYPICAL POWER ALLOCATION FOR DISTRIBUTED FILTERING* ...... 10550 Yu Zhang, Wen Yang, Chao Yang, Xiaofan Wang, Fan Sha, Yongxiao Tian

VARIATIONAL BAYES IDENTIFICATION OF ACYCLIC DYNAMIC NETWORKS*...... 10556 Riccardo S. Risuleo, Giulio Bottegal, Håkan Hjalmarsson

IDENTIFICATION OF DYNAMIC NETWORKS WITH RANK-REDUCED PROCESS NOISE * ...... 10562 Harm H. M. Weerts, Paul M. J. Van Den Hof, Arne G. Dankers

INCORPORATING NOISE MODELING IN DYNAMIC NETWORKS USING NON-PARAMETRIC MODELS * ...... 10568 Miguel Galrinho, Niklas Everitt, Hakån Hjalmarsson

IDENTIFICATION AND PREDICTION IN DYNAMIC NETWORKS WITH UNOBSERVABLE NODES ...... 10574 Jonas Linder, Martin Enqvist

ON THE IDENTIFIABILITY OF DYNAMICAL NETWORKS* ...... 10580 Michel Gevers, Alexandre S. Bazanella, Adriane Parraga

LINEAR DYNAMIC NETWORK RECONSTRUCTION FROM HETEROGENEOUS DATASETS...... 10586 Zuogong Yue, Johan Thunberg, Wei Pan, Lennart Ljung, Jorge Gonçalves

PROFESSIONAL ETHICS AND SOCIAL RESPONSIBILITY: MILITARY WORK AND PEACEBUILDING ...... 10592 Marion Hersh

THE RESPONSIBILITY TO PROTECT MY DATA: ETHICAL SHORTCOMINGS OF DIGITAL DATA GATHERING AND USE IN EMERGENCIES AND DEVELOPMENT CONTEXTS ...... 10603 Mike Fitzgibbon

STRIVING FOR GLOBAL STABILITY: ESTABLISHING A NEW IFAC AGENDA...... 10608 Amy Stapleton, Larry Stapleton

ETHICAL ENGINEERING AND RESPECT FOR THE ‘OTHER’...... 10614 Marion Hersh

OFFSET RISK MINIMIZATION FOR OPEN-LOOP OPTIMAL CONTROL OF OIL RESERVOIRS*...... 10620 A. Capolei, L. H. Christiansen, J. B. Jørgensen

A DISTRIBUTED FRAMEWORK FOR REAL TIME PATH PLANNING IN PRACTICAL MULTI-AGENT SYSTEMS...... 10626 Mohamed Abdelkader, Hassan Jaleel, Jeff S. Shamma

IP2GO: AN INTERIOR POINT SOURCE CODE GENERATOR FOR SOLVING LINEAR-QUADRATIC OPTIMAL CONTROL PROBLEMS...... 10632 F. Krank, A. Mayer, U. Schaper, E. Arnold, O. Sawodny

SOLVING THE MINIMUM-TIME VELOCITY PLANNING PROBLEM THROUGH AN HYPERGRAPH- BASED APPROACH ...... 10638 Federico Cabassi, Luca Consolini, Marco Locatelli

ENERGY OPTIMAL EXCITATION OF RADIO-FREQUENCY CAVITIES ...... 10644 Olof Troeng, Bo Bernhardsson

ANALYSIS OF THE DEFINITIONS OF RESILIENCE...... 10649 Zhonglin Wang, Marian Sorin Nistor, Stefan Wolfgang Pickl

ROBUST GENERALIZED DYNAMIC INVERSION CONTROL OF AUTONOMOUS UNDERWATER VEHICLES...... 10658 Uzair Ansari, Abdulrahman H. Bajodah

REGULATION OF CONTINUOUS-TIME STOCHASTIC SYSTEMS UNDER STATE AND CONTROL CONSTRAINTS ...... 10666 George Bitsoris, Marina Vassilaki

A RICCATI-BASED INTERIOR POINT METHOD FOR EFFICIENT MODEL PREDICTIVE CONTROL OF SISO SYSTEMS ...... 10672 Morten Hagdrup, Rolf Johansson, John Bagterp Jørgensen

SOLUTION OF A TERMINAL CONTROL PROBLEM UNDER STATE CONSTRAINTS*...... 10679 Alexey E. Golubev, Alexander P. Krishchenko, Nadezhda V. Utkina, Mikhail A. Velishchanskiy

ROBUST OUTPUT FEEDBACK MPC FOR UNCERTAIN LINEAR SYSTEMS WITH REDUCED CONSERVATISM ...... 10685 Markus Kögel, Rolf Findeisen

SIMPLIFICATION OF DYNAMIC PROBLEMS BY TIME-SCALE TRANSFORMATION: APPLICATION TO THE NONLINEAR CONTROL WITH INPUT POSITIVE CONSTRAINTS ...... 10691 C. Casenave, E. Montseny

PART 17

EMBEDDED LINEAR MODEL PREDICTIVE CONTROL FOR 8-BIT MICROCONTROLLERS VIA CONVEX LIFTING...... 10697 Martin Gulan, Gergely Takács, Ngoc Anh Nguyen, Sorin Olaru, Pedro Rodriguez-Ayerbe, Boris Rohal-Ilkiv

DEVELOPMENT OF CONSTRAINED PREDICTIVE FUNCTIONAL CONTROL USING LAGUERRE FUNCTION BASED PREDICTION...... 10705 M. Abdullah, J. A. Rossiter, R. Haber

A PERIODIC TRACKING MPC THAT IS LOCALLY EQUIVALENT TO PERIODIC ECONOMIC MPC*...... 10711 Mario Zanon, Séebastien Gros, Moritz Diehl

REAL-TIME OPTIMAL CONTROL OF SEAT-BELT SYSTEMS ...... 10717 Michiel Oom, Bram De Jager

EMBEDDED MIXED-INTEGER QUADRATIC OPTIMIZATION USING ACCELERATED DUAL GRADIENT PROJECTION...... 10723 Vihangkumar V. Naik, Alberto Bemporad

COMPLEXITY REDUCTION IN MOTION CUEING ALGORITHM FOR THE ULTIMATE DRIVING SIMULATOR...... 10729 Sarmad Munir, Morten Hovd, Zhou Fang, Sorin Olaru, Andras Kemeny

ON THE STEADY-STATE BEHAVIOR OF LOW-INERTIA POWER SYSTEMS...... 10735 Dominic Groß, Florian Dörfler

LARGE-SCALE DISTRIBUTED KALMAN FILTERING VIA AN OPTIMIZATION APPROACH...... 10742 Mathias Hudoba De Badyn, Mehran Mesbahi

SPARSE LINEAR-QUADRATIC-GAUSSIAN CONTROL IN NETWORKED SYSTEMS...... 10748 Fu Lin, Shaunak D. Bopardikar

OPTIMIZATION UNDER NON-CONVEX QUADRATIC MATRIX INEQUALITY CONSTRAINTS WITH APPLICATION TO DESIGN OF OPTIMAL SPARSE CONTROLLER...... 10754 Serge L. Shishkin

A CHAOTIC DYNAMICAL SYSTEM THAT PAINTS AND SAMPLES...... 10760 Tuhin Sahai, George Mathew, Amit Surana

PROBABILISTIC PLAN SYNTHESIS FOR COUPLED MULTI-AGENT SYSTEMS* ...... 10766 Alexandros Nikou, Jana Tumova, Dimos V. Dimarogonas

WAVENET BASED INFERENTIAL MEASUREMENT OF N/C RATIO OF UREA SYNTHESIS REACTOR...... 10772 Yul Y. Nazaruddin, Windra Gumilar

ADAPTIVE SOFT SENSOR MODELING BASED ON WEIGHTED SUPERVISED LATENT FACTOR ANALYSIS WITH SELECTIVELY INTEGRATED MOVING WINDOWS ...... 10778 Le Yao, Zhiqiang Ge, Xiaofeng Yuan, Peiliang Wang

OPTIMIZATION-BASED ONLINE DECISION SUPPORT TOOL FOR ELECTRIC ARC FURNACE OPERATION *...... 10784 Smriti Shyamal, Christopher L. E. Swartz

DYNAMIC MODELING OF AN INTEGRATED REFORMER MEMBRANE FUEL CELL SYSTEM ...... 10790 P. S. Pravin, Ravindra D. Gudi, Sharad Bhartiya

DISTRIBUTED MODEL PREDICTIVE CONTROL OF CENTRIFUGAL COMPRESSOR SYSTEMS...... 10796 K. Jones, A. Cortinovis, M. Mercangoez, H. J. Ferreau

CYCLIC AUTOMATION OF A PLANT FOR THE REMOVAL OF CO2 FROM BIOGAS* ...... 10802 L. Bisone, S. Bittanti, S. Canevese, A. De Marco, V. Prandoni

OUTPUT REGULATION BY ERROR DYNAMIC FEEDBACK IN HYBRID LINEAR SYSTEMS WITH STATE JUMPS...... 10808 Elena Zattoni, Anna Maria Perdon, Giuseppe Conte

UNIMODULAR TRANSFORMATIONS AND CANONICAL FORMS FOR SINGULAR SYSTEMS ...... 10816 Dimitris Vafiadis, Nicos Karcanias

LINEARIZATION BY MEANS OF LINEAR IMPLICIT RECTANGULAR DESCRIPTIONS ...... 10822 Moises Bonilla, Vadim Azhmyakov, Michel Malabre

ON THE CONTROLLABILITY MATRIX REALIZATION PROBLEM*...... 10828 I. Zaballa

ACHIEVABLE STRUCTURES AT INFINITY OF LINEAR SYSTEMS DECOUPLED BY NON-REGULAR STATIC STATE FEEDBACK...... 10834 Petr Zagalak, Vladimír Kucera

A GRASSMANN MATRIX APPROACH FOR THE COMPUTATION OF DEGENERATE SOLUTIONS FOR OUTPUT FEEDBACK LAWS ...... 10839 J. Leventides, I. Meintanis, N. Karcanias

SYNCHRONIZING DECENTRALIZED CONTROL LOOPS FOR OVERALL PERFORMANCE ENHANCEMENT: A YOULA FRAMEWORK APPLIED TO A WAFER SCANNER ...... 10845 Enzo Evers, Marc Van De Wal, Tom Oomen

DATA-DRIVEN TUNING OF A HYBRID INTEGRATOR-GAIN SYSTEM...... 10851 Marcel Heertjes, Natalia Irigoyen, Daniel Deenen

MULTIRATE VIBRATION ATTENUATION BEYOND NYQUIST FREQUENCY WITH PERFORMANCE, STABILITY AND ROBUSTNESS ANALYSIS ...... 10857 Liting Sun, Masayoshi Tomizuka

MODEL PREDICTIVE CONTROL FOR TRACK FOLLOWING AND DISTURBANCE REJECTION IN A TAPE DRIVE SYSTEM*...... 10864 Kaitlyn Garifi, Lucy Pao, Behrouz Touri

IDENTIFICATION OF SYSTEM DYNAMICS WITH TIME DELAY: A TWO-STAGE FREQUENCY DOMAIN APPROACH...... 10870 Thomas Beauduin, Hiroshi Fujimoto

CONTRACTION ANALYSIS OF NONLINEAR ITERATIVE LEARNING CONTROL...... 10876 Felix H. Kong, Ian R. Manchester

DIGITAL Q-CONTROL AND AUTOMATIC PROBE LANDING IN AMPLITUDE MODULATION PHASE IMAGING AFM MODE...... 10882 Sergey Belikov, John Alexander, Marko Surtchev, Sergei Magonov

DATA DRIVEN CONTROLLER DESIGN FOR POSITIONING CONTROL OF AN AFM SCANNER ...... 10889 T. D. Gupta, H. Habibullah, H. R. Pota, I. R. Petersen

EVALUATING THE PERFORMANCE OF ROBUST CONTROLLERS FOR A NANOPOSITIONING PLATFORM UNDER LOADING...... 10895 Douglas Russell, Sumeet S. Aphale

SYSTEMATIC HYSTERESIS COMPENSATOR DESIGN BASED ON EXTENDED UNPARALLEL PRANDTL-ISHLINSKII MODEL FOR SPM IMAGING RECTIFICATION* ...... 10901 Zhiyong Sun, Bo Song, Ning Xi, Ruiguo Yang, Liangliang Chen, Yu Cheng, Sheng Bi, Congjian Li, Lina Hao

PREACTUATED MULTIRATE FEEDFORWARD FOR A HIGH-PRECISION STAGE WITH CONTINUOUS TIME UNSTABLE ZEROS ...... 10907 Wataru Ohnishi, Thomas Beauduin, Hiroshi Fujimoto

TRACKING CONTROL OF A MONOLITHIC PIEZOELECTRIC NANOPOSITIONING STAGE USING AN INTEGRATED SENSOR...... 10913 Meysam Omidbeike, Yik R. Teo, Yuen K. Yong, Andrew J. Fleming

ROBUST AND STRUCTURAL ERGODICITY ANALYSIS OF STOCHASTIC BIOMOLECULAR NETWORKS INVOLVING SYNTHETIC ANTITHETIC INTEGRAL CONTROLLERS...... 10918 Corentin Briat, Mustafa Khammash

ANALYZING AND EXPLOITING THE EFFECTS OF PROTEASE SHARING IN GENETIC CIRCUITS * ...... 10924 Cameron McBride, Domitilla Del Vecchio

FEEDBACK CONTROL AND SYNTHETIC BIOLOGY: CONSTRAINTS ON DESIGN...... 10932 Harrison C. B. Steel, Antonis Papachristodoulou

SIGNAL DIFFERENTIATION WITH GENETIC NETWORKS...... 10938 Wolfgang Halter, Zoltan A. Tuza, Frank Allgöwer

PATTERN FORMATION IN LARGE-SCALE NETWORKS WITH ASYMMETRIC CONNECTIONS *...... 10944 Andras Gyorgy, Murat Arcak

AN ULTRASENSITIVE BIOMOLECULAR NETWORK FOR ROBUST FEEDBACK CONTROL ...... 10950 Christian Cuba Samaniego, Elisa Franco

A GENERAL FRAMEWORK FOR A CONTROL-BASED DESIGN OF POWER AND MECHANICAL HARDWARE-IN-THE-LOOP SYSTEMS...... 10957 Boris Fischer, Uwe Jassmann

INTERFACING CHALLENGES IN PHIL SIMULATIONS FOR INVESTIGATIONS ON P-Q CONTROLS OF GRID CONNECTED GENERATION UNITS IN ELECTRIC POWER SYSTEMS ...... 10964 Georg F. Lauss

POWER HARDWARE-IN-THE-LOOP SIMULATION FOR TESTING MULTI-SOURCE VEHICLES ...... 10971 A. Castaings, A. Bouscayrol, W. Lhomme, R. Trigui

STABILITY AND ACCURACY CONSIDERATIONS OF POWER HARDWARE- IN-THE-LOOP TEST BENCHES FOR WIND TURBINES ...... 10977 Antonino Riccobono, Alexander Helmedag, Anica Berthold, Nurhan Rizqy Averous, Rik W. De Doncker, Antonello Monti

DESIGN AND ANALYSIS OF A MPC-BASED MECHANICAL HARDWARE-IN-THE-LOOP SYSTEM FOR FULL-SCALE WIND TURBINE SYSTEM TEST BENCHES...... 10985 Christian Leisten, Uwe Jassmann, Johannes Balshüsemann, Mathias Hakenberg, Dirk Abel

HEALTH STATUS MONITORING FOR ICU PATIENTS BASED ON LWPR-PCA ...... 10992 Yangyang Ding, Youqing Wang

MULTIVARIATE STATISTICAL MONITORING OF SENSOR FAULTS OF A MULTIVARIABLE ARTIFICIAL PANCREAS ...... 10998 Kamuran Turksoy, Iman Hajizadeh, Elizabeth Littlejohn, Ali Cinar

COMPARISON OF DIFFERENT METHODS OF MEASURING SIMILARITY IN PHYSIOLOGIC TIME SERIES ...... 11005 A. Kianimajd, M. G. Ruano, P. Carvalho, J. Henriques, T. Rocha, S. Paredes, A. E. Ruano

A SHORT-TERM DYNAMICAL MODEL FOR GHRELIN ...... 11011 J. G. Pires, A. Borri, A. De Gaetano, C. Manes, P. Palumbo

DIRECT OPTIMAL CONTROL OF BREATHABLE LIQUID TEMPERATURE FOR HUMAN COOLING ...... 11017 Philippe Micheau, Mathieu Nadeau, Renaud Tissier, Herve Walti

COMMISSIONING PROCEDURE FOR PREDICTIVE CONTROL BASED ON ARX MODELS OF TYPE 1 DIABETES MELLITUS PATIENTS ...... 11023 Lucas Griva, Marc Breton, Daniel Chernavvsky, Marta Basualdo

CYLINDER STATE ESTIMATION FROM MEASURED CYLINDER PRESSURE TRACES - A SURVEY*...... 11029 Lars Eriksson, Andreas Thomasson

IMPLICATIONS OF USING TURBOCHARGER SPEED SENSOR FOR BOOST PRESSURE CONTROL ...... 11040 Robin Holmbom, Bohan Liang, Lars Eriksson

CYCLE-BY-CYCLE OPTIMIZATION OF THE COMBUSTION DURING TRANSIENT ENGINE OPERATION...... 11046 T. Makowicki, M. Bitzer, S. Grodde, K. Graichen

IMPROVING FUEL ECONOMY AND ACCELERATION BY ELECTRIC TURBOCHARGER CONTROL FOR HEAVY DUTY LONG HAULAGE ...... 11052 Kristoffer Ekberg, Lars Eriksson

ENGINE TORQUE ESTIMATION WITH INTEGRATED UNKNOWN INPUT OBSERVER AND ADAPTIVE PARAMETER ESTIMATOR...... 11058 Thomas Harding, Clement Rames, Huang Yu Teh, Toby Mill, Jing Na, Anthony Chen, Guido Herrmann

MODEL PREDICTIVE CONTROL FOR HYBRID DIESEL-ELECTRIC MARINE PROPULSION * ...... 11064 Georgios Papalambrou, Sergey Samokhin, Sotirios Topaloglou, Nikolaos Planakis, Nikolaos Kyrtatos, Kai Zenger

A STABLE MULTI-OBJECTIVE ECONOMIC MPC SCHEME FOR BOILER-TURBINE UNITS...... 11070 Huirong Zhao, Jiong Shen, Yiguo Li, Joseph Bentsman

AN INTELLIGENT DUAL OPTIMIZATION APPROACH FOR IMPROVED LOAD FOLLOWING OF SUPERCRITICAL POWER UNIT BASED ON CONDENSATE THROTTLING ...... 11076 Liangyu Ma, Fan Li, Lei Cheng, Kwang Y. Lee

NEURAL INPUT OUTPUT FEEDBACK LINEARIZATION CONTROL OF A DFIG BASED WIND TURBINE...... 11082 L. Djilali, E. N Sanchez, M. Belkheiri

TEMPERATURE CONTROL OF OPEN-CATHODE PEM FUEL CELLS...... 11088 Stephan Strahl, Ramon Costa-Castelló

IMPACT ANALYSIS OF A BIAS INJECTION CYBER-ATTACK ON A POWER PLANT ...... 11094 Efstathios Kontouras, Anthony Tzes, Leonidas Dritsas

OPTIMAL CONTROL OF POWER GENERATION SYSTEMS USING REALISTIC OBJECT-ORIENTED MODELICA MODELS ...... 11100 Francesco Casella, Pietro Parini

COMPARISON OF CONVENTIONAL AND REPETITIVE MPC WITH APPLICATION TO A PERIODICALLY DISTURBED COMPRESSOR STATOR VANE FLOW * ...... 11107 Simon J. Steinberg, Marcel Staats, Wolfgang Nitsche, Rudibert King

ACCURATE ESTIMATION FOR THE CLOSED-LOOP ROBUST CONTROL USING GLOBAL MODES...... 11113 Gilles Tissot, Jean-Pierre Raymond

ROBUST CONTROL OF FLOW SEPARATION OVER A PITCHING AEROFOIL USING PLASMA ACTUATORS ...... 11120 L. Pasquale, R. Broglia, K.-S. Choi, D. Durante, P. Zanchetta

MODEL-BASED FEEDFORWARD OPTIMAL CONTROL APPLIED TO A TURBULENT SEPARATED FLOW ...... 11126 Maxime Feingesicht, Andrey Polyakov, Franck Kerhervé, Jean-Pierre Richard

SEMI-EMPIRICAL MODELLING AND PREDICTIVE TRACKING CONTROL OF THE MASS FLOW IN A PILOT-SCALE TUBULAR REACTOR* ...... 11132 H. Caballero-Barragán, L. P. Osuna-Ibarra, A. Sanchez, A. G. Loukianov

ONLINE MODEL ADAPTION OF REDUCED ORDER MODELS FOR FLUID FLOWS* ...... 11138 L. Pyta, D. Abel

FORMAL VERIFICATION OF SAFETY ANALYSIS MODELS OF REPAIRABLE AND RECONFIGURABLE SYSTEMS...... 11144 Elodie Kobeissi, Pierre-Yves Piriou, Jean-Marc Faure

SAFETY ANALYZES OF MECHATRONICS SYSTEMS: A CASE STUDY ...... 11150 B. Aupetit, M. Batteux, A. Rauzy, J.-M. Roussel

DECOMPOSING THE MODEL-CHECKING OF MOBILE ROBOTICS ACTIONS ON A GRID ...... 11156 Rim Saddem, Olivier Naud, Karen Godary Dejean, Didier Crestani

USING PLANT MODEL FEATURES TO GENERATE REDUCED TEST CASES FOR PROGRAMMABLE CONTROLLERS ...... 11163 Canlong Ma, Julien Provost

A TEMPORISED CONFLICT-FREE ROUTING POLICY FOR AGVS ...... 11169 Dimitri Antakly, Jean Jacques Loiseau, Rosa Abbou

MARKING ESTIMATION IN LABELLED PETRI NETS BY THE REPRESENTATIVE MARKING GRAPH ...... 11175 Ziyue Ma, Yin Tong, Zhiwu Li, Alessandro Giua

AN EXPERIMENTAL INVESTIGATION OF PATH FOLLOWING FOR AN UNDERWATER SNAKE ROBOT WITH A CAUDAL FIN *...... 11182 E. Kelasidi, K. Y. Pettersen, A. M. Kohl, J. T. Gravdahl

BENCHMARKING WATER TURBIDITY EFFECT ON TRACKING ALGORITHMS *...... 11191 J. Pérez, J. Sales, A. Peñalver, J. J. Fernández, D. Fornas, J. C. Garcia, R. Marin, P. J. Sanz

A ROBUST FORCE CONTROL APPROACH FOR UNDERWATER VEHICLE MANIPULATOR SYSTEMS*...... 11197 Shahab Heshmati-Alamdari, Alexandros Nikou, Kostas J. Kyriakopoulos, Dimos V. Dimarogonas

E-UROPE: A RECONFGURABLE AUV/ROV FOR MAN-ROBOT UNDERWATER COOPERATION...... 11203 Angelo Odetti, Marco Bibuli, Giorgio Bruzzone, Massimo Caccia, Edoardo Spirandelli, Gabriele Bruzzone

AN UNDERWATER ROBOTIC GRIPPER WITH EMBEDDED FORCE/TORQUE WRIST SENSOR† ...... 11209 Gianluca Palli, Lorenzo Moriello, Umberto Scarcia, Claudio Melchiorri

THE DORIS OFFSHORE ROBOT: RECENT DEVELOPMENTS AND REAL-WORLD DEMONSTRATION RESULTS...... 11215 Guilherme P. S. Carvalho, Marco F. S. Xaud, Ighor Marcovistz, Alex F. Neves, Ramon R. Costa

INTELLIGENT HYBRID CONTROL BASED ON ADAPTIVE SWITCHING...... 11221 Zuzana Dideková, Štefan Kozák, Slavomír Kajan, Alena Kozáková

A COMPARISON OF FOUR DATA SELECTION METHODS FOR ARTIFICIAL NEURAL NETWORKS AND SUPPORT VECTOR MACHINES ...... 11227 H. Khosravani, A. Ruano, P. M. Ferreira

DISTRIBUTED REAL-TIME CONTROL ARCHITECTURE FOR ROS-BASED MODULAR ROBOTS...... 11233 Eduardo Munera, Jose-Luis Poza-Lujan, Juan-Luis Posadas-Yague, Jose Simo, J. Francisco Blanes Noguera

USER STUDY ON THE FACILITY ASYNCHRONOUS DATA ANALYSIS TOOL (FADAT) FOR TELEANALYSIS AND OPTIMIZATION OF AN INDUSTRIAL ROBOT PLANT * ...... 11239 Doris Aschenbrenner, Michael Fritscher, Felix Sittner, Markus Krauss, Klaus Schilling

THE DESIGN AND IMPLEMENTATION OF THE UPMSAT-2 ATTITUDE CONTROL SYSTEM* ...... 11245 Juan Zamorano, Jorge Garrido, Javier Cubas, Alejandro Alonso, Juan A. De La Puente

INTEGRATION OF SYMBOLIC EXECUTION INTO A FORMAL ABSTRACT STATE MACHINES BASED LANGUAGE ...... 11251 Vladimir-Alexandru Paun, Bruno Monsuez, Philippe Baufreton

FROM CONSUMPTION TO PROSUMPTION - OPERATIONAL COST OPTIMIZATION FOR REFRIGERATION SYSTEM WITH HEAT WASTE RECOVERY...... 11257 Tomasz Minko, Jesus Lago Garcia, Jan Dimon Bendtsen, Rafael Wisniewski, Roozbeh Izadi-Zamanabadi

A DISTRIBUTED OPTIMIZATION ALGORITHM FOR STOCHASTIC OPTIMAL CONTROL...... 11263 Yuning Jiang, Philippe Nimmegeers, Dries Telen, Jan Van Impe, Boris Houska

SPEED-UP OF ITERATIVE REAL-TIME OPTIMIZATION BY ESTIMATING THE STEADY STATES IN THE TRANSIENT PHASE USING NONLINEAR SYSTEM IDENTIFICATION ...... 11269 José Cadavid, Reinaldo Hernández, Sebastian Engell

AN ADAPTIVE ROBUST OPTIMIZATION SCHEME FOR WATER-FLOODING OPTIMIZATION IN OIL RESERVOIRS USING RESIDUAL ANALYSIS * ...... 11275 M. Mohsin Siraj, Paul M. J. Van Den Hof, Jan Dirk Jansen

COORDINATED CONTROL STRATEGY FOR MICROGRID IN GRID-CONNECTED AND ISLANDED OPERATION...... 11281 Hai-Xiao Jiang, Yi Zheng, Shaoyuan Li, Wenjun Zhu

TOPCORE OPEN MODULAR PLATFORM FOR REAL-TIME CONTROL OF EXPERIMENTAL SETUPS...... 11287 Thorbjörn Jörger, Jonas Schlagenhauf, Elias Rosch, Maximilian Ernestus, Martin Dold, Joanna Greulich, Ben Schleusener, Julian Reimer, Moritz Diehl

DEFLECTION MODEL OF A MULTI-ACTUATOR GAP LEVELER...... 11295 R. Brauneis, M. Baumgart, A. Steinboeck, A. Kugi, M. Jochum

MODEL PREDICTIVE CONTROL WITH LINEAR PROGRAMMING FOR THE STRIP INFEED IN HOT ROLLING MILLS ...... 11301 A. Galkina, I. Gafur, K. Schlacher

FEEDFORWARD CONTROL OF LATERAL ASYMMETRIES IN HEAVY-PLATE HOT ROLLING USING VISION-BASED POSITION ESTIMATION ...... 11307 Katharina Prinz, Florian Schausberger, Andreas Steinboeck, Andreas Kugi

CONTROL PERFORMANCE MONITORING OF STATE-DEPENDENT NONLINEAR PROCESSES...... 11313 Luis F. Recalde, Hong Yue

DATA-BASED FAST MODELING AND FLATNESS PREDICTION FOR MULTI-GRADE STEEL ROLLING PROCESS...... 11319 Dong Li, Ningyun Lu, Jianhua Lu, Huiping Zhao

CONTROL OF CURVATURE AND CONTACT FORCE OF A METAL STRIP AT THE STRIP-ROLL CONTACT POINT ...... 11325 G. Stadler, A. Steinboeck, A. Kugi

MODEL PREDICTIVE CONTROL TUNING: METHODS AND ISSUES. APPLICATION TO STEERING WHEEL POSITION CONTROL...... 11331 Sergey Abrashov, Tudor Bogdan Airimitoaie, Patrick Lanusse, François Aioun, Rachid Malti, Xavier Moreau, Franck Guillemard

QUASI-NON-SYMMETRIC INPUT AND OUTPUT CONSTRAINTS IN LMI-BASED ROBUST MPC...... 11337 Juraj Oravec, Michal Kvasnica, Monika Bakosova

H2 AND H∞ DYNAMIC OUTPUT FEEDBACK CONTROL OF CONTINUOUS-TIME MARKOV SYSTEMS WITH UNCERTAIN RATES USING LMIS*...... 11343 Cecília F. Morais, Márcio F. Braga, Ricardo C. L. F. Oliveira, Pedro L. D. Peres

A NEW LMI-BASED OUTPUT FEEDBACK CONTROLLER DESIGN METHOD FOR DISCRETE-TIME LPV SYSTEMS WITH UNCERTAIN PARAMETERS ...... 11349 Hamza Bibi, Fazia Bedouhene, Ali Zemouche, Hamid Reza Karimi

ROBUST GUARANTEED COST OUTPUT-FEEDBACK GAIN-SCHEDULED CONTROLLER DESIGN* ...... 11355 Adrian Ilka, Vojtech Veselý

TRACKING CONTROL FOR ELECTROMECHANICAL SYSTEMS USING ROBUST DISCRETE TIME H∞* ...... 11361 L. P. Osuna-Ibarra, H. Caballero-Barragán, A. G. Loukianov, E. Bayro-Corrochano

PART 18

ROBUST LQR CONTROL FOR STALL FLUTTER SUPPRESSION: A POLYTOPIC APPROACH*...... 11367 Fabien Niel, Alexandre Seuret, Luca Zaccarian, Casey Fagley

GAIN SCHEDULING CONTROL WITH PWA MODEL: A CASE STUDY ...... 11373 Peter Balko, Danica Rosinová

SOFT-CONSTRAINED ALTERNATIVE ROBUST MPC: EXPERIMENTAL STUDY ...... 11379 Juraj Oravec, Daniela Pakšiová, Monika Bakošová, Miroslav Fikar

ROBUST H∞ SWITCHING MIMO CONTROL FOR A PLASMA TIME-VARYING PARAMETER MODEL WITH A VARIABLE STRUCTURE IN A TOKAMAK...... 11385 Yuri V. Mitrishkin, Artem A. Prohorov, Pavel S. Korenev, Mikhail I. Patrov

GAIN-SCHEDULED H2 NON-MINIMAL ORDER FILTERING DESIGN FOR LINEAR PARAMETER- VARYING DISCRETE-TIME SYSTEMS* ...... 11391 Luciano Frezzatto, Maurício C. De Oliveira, Ricardo C. L. F. Oliveira, Pedro L. D. Peres

AN RKHS APPROACH TO CONTROLLING SMOOTHNESS IN NONPARAMETRIC LPV-IO IDENTIFICATION...... 11397 Yusuf Bhujwalla, Vincent Laurain, Marion Gilson

UDE-BASED ROBUST BOUNDARY CONTROL OF HEAT EQUATION WITH UNKNOWN INPUT DISTURBANCE ...... 11403 Jiguo Dai, Beibei Ren

DISTRIBUTED CONTROLLER DESIGN FOR LPV/LFT DISTRIBUTED SYSTEMS IN INPUT-OUTPUT FORM * ...... 11409 Qin Liu, Hossam S. Abbas, Javad Mohammadpour Velni, Herbert Werner

AERIAL AUTONOMOUS CATCHING BALL USING A NESTED SECOND ORDER SLIDING MODE CONTROL*...... 11415 E. Ibarra-Jimenez, P. Castillo

A BILATERAL TELEOPERATION ARCHITECTURE USING SMITH PREDICTOR AND ADAPTIVE NETWORK BUFFERING ...... 11421 Giacomo De Rossi, Riccardo Muradore

USING PARTICLE SWARM OPTIMIZATION FOR SOURCE SEEKING IN MULTI-AGENT SYSTEMS ...... 11427 Marcus Gronemeyer, Marcus Bartels, Herbert Werner, Joachim Horn

KINEMATIC MODELING AND CONTROL DESIGN OF A NOVEL SINGLE-RAIL PARALLEL ARM* ...... 11434 Lars Grimstad, Marco F. S. Xaud, Antonio C. Leite, Pål J. From

SHUTTER DELAY ESTIMATION FOR A LOW-COST STAND-ALONE VISUAL TRACKING SYSTEM* ...... 11441 Arnold Pretorius, Edward Boje

VISION-BASED TRACKING BY A QUADROTOR ON ROS* ...... 11447 Yusheng Wei, Zongli Lin

QUATERNION BASED CONTROL FOR CIRCULAR UAV TRAJECTORY TRACKING, FOLLOWING A GROUND VEHICLE: REAL-TIME VALIDATION...... 11453 H. Abaunza, E. Ibarra, P. Castillo, A. Victorino

A SEGMENTATION SCHEME FOR CLF DYNAMIC MOVEMENT CONTROL APPLIED TO ROBOTIC HANDWRITING...... 11459 Patrick Göttsch, Robin Olschewski, Herbert Werner

ULTRA WIDEBAND ENABLED INERTIAL ODOMETRY FOR GENERIC LOCALIZATION...... 11465 Emil Fresk, Kristoffer Ödmark, George Nikolakopoulos

PATH PLANNING OF A GROUP OF ROBOTS WITH POTENTIAL FIELD APPROACH: DECENTRALIZED ARCHITECTURE ...... 11473 F. Matoui, B. Boussaid, B. Metoui, G. B. Frej, M. N. Abdelkrim

EXPLORING ROBOTS AND UAVS AS PHENOTYPING TOOLS IN PLANT BREEDING ...... 11479 Ingunn Burud, Gunnar Lange, Morten Lillemo, Eivind Bleken, Lars Grimstad, Pål Johan From

A NONLINEAR LEAST SQUARES APPROACH FOR NONPREHENSILE DUAL-HAND ROBOTIC BALL JUGGLING...... 11485 Diana Serra, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

ROBUST RANGE-ONLY MAPPING VIA SUM-OF-SQUARES POLYNOMIALS...... 11491 Lionel Génevé, Adlane Habed, Édouard Laroche, Olivier Kermorgant

A TESTING SYSTEM FOR A REAL-TIME GESTURE CLASSIFICATION USING SURFACE EMG ...... 11498 Konstantin Akhmadeev, Elena Rampone, Tianyi Yu, Yannick Aoustin, Eric Le Carpentier

THE FEASIBILITY ISSUE IN TRAJECTORY TRACKING BY MEANS OF REGIONS-OF-ATTRACTION- BASED GAIN SCHEDULING * ...... 11504 Leandro R. Lustosa, François Defaÿ, Jean-Marc Moschetta

ANTI-WINDUP DESIGNS FOR SYSTEMS WITH AMPLITUDE AND RATE BOUNDED ACTUATORS * ...... 11509 Maryam Sadeghi Reineh, Solmaz S. Kia, Faryar Jabbari

GUARANTEEING CONSTRAINTS OF DISTURBED NONLINEAR SYSTEMS USING SET-BASED OPTIMAL CONTROL IN GENERATOR SPACE...... 11515 Bastian Schürmann, Matthias Althoff

ADAPTIVE MODEL RECOVERY ANTI-WINDUP FOR OUTPUT-FEEDBACK PLANTS...... 11523 Manus Thiel, Dieter Schwarzmann, Matthias Schultalbers, Torsten Jeinsch

SUFFICIENT CONDITIONS FOR UNIFORM GLOBAL ASYMPTOTIC STABILIZATION OF DISCRETE- TIME PERIODIC BILINEAR SYSTEMS *...... 11529 Vasilii Zaitsev

AVERAGE TORQUE CONTROL OF A SWITCHED RELUCTANCE MOTOR DRIVE FOR LIGHT ELECTRIC VEHICLE APPLICATIONS* ...... 11535 Muhammad Usman Jamil, Waree Kongprawechnon, Nattapon Chayopitak

DESIGN OF ONE SAMPLING PERIOD DELAY STABILIZING CONTROLLERS FOR NONLINEAR SAMPLED-DATA STRICT-FEEDBACK SYSTEMS ...... 11541 Hitoshi Katayama

AN LMI-BASED H∞ DISCRETE-TIME NONLINEAR STATE OBSERVER DESIGN FOR AN ANAEROBIC DIGESTION MODEL ...... 11547 K. Chaib Draa, H. Voos, M. Alma, A. Zemouche, M. Darouach

ROBUST CONTROL OF AN UNCERTAIN UAV VIA HIGH-ORDER SLIDING MODE COMPENSATION ...... 11553 Jorge Dávila, Sergio Salazar

LPV MODEL REFERENCE CONTROL FOR FIXED-WING UAVS *...... 11559 Damiano Rotondo, Andrea Cristofaro, Kristoffer Gryte, Tor Arne Johansen

GEOMETRIC TRACKING CONTROL OF A QUADCOPTER TILTROTOR UAV...... 11565 Davide Invernizzi, Marco Lovera

GLOBAL CONTROL FOR A CLASS OF INHERENTLY NONLINEAR SYSTEMS WITH UNCERTAIN MEASUREMENTS*...... 11571 Wenting Zha, Chunjiang Qian, Junyong Zhai, Shumin Fei

DISTRIBUTED ALGORITHM FOR OPTIMAL VEHICLE COORDINATION AT TRAFFIC INTERSECTIONS ...... 11577 Yuning Jiang, Mario Zanon, Robert Hult, Boris Houska

DESIGN OF SELF-SYNCHRONIZING STREAM CIPHERS: A NEW CONTROL-THEORETICAL PARADIGM *...... 11583 B. Dravie, P. Guillot, G. Millérioux

A NOVEL TORQUE CONTROLLER WITH DIRECT FLUX CONTROL FOR PERMANENT MAGNET SYNCHRONOUS MOTOR ...... 11589 Hongqing Chu, Hong Chen, Bingzhao Gao, Haiyan Zhao

REDUCING MEMORY FOOTPRINTS IN EXPLICIT MODEL PREDICTIVE CONTROL USING UNIVERSAL NUMBERS ...... 11595 Deepak Ingole, Michal Kvasnica, Himeshi De Silva, John Gustafson

FAST NONLINEAR MPC FOR REFERENCE TRACKING SUBJECT TO NONLINEAR CONSTRAINTS VIA QUASI-LPV REPRESENTATIONS ...... 11601 Pablo Gonzalez Cisneros, Herbert Werner

MULTI-OBJECTIVE MODEL SELECTION FOR UNMANNED AERIAL VEHICLES AUTOMATIC TARGET RECOGNITION SYSTEMS...... 11607 Victor Henrique Alves Ribeiro, Gilberto Reynoso-Meza, Leandro Dos Santos Coelho

AN ENERGY FUNCTION BASED DESIGN OF SECOND ORDER SLIDING MODES FOR AUTOMATIC GENERATION CONTROL* ...... 11613 Sebastian Trip, Michele Cucuzzella, Antonella Ferrara, Claudio De Persis

SLIDING MODE TRACKING CONTROLLER FOR A NON-LINEAR SINGLE LINK-DC MOTOR SYSTEM: AN INPUT OUTPUT APPROACH ...... 11619 H. Sira Ramírez, M. A. Aguilar-Orduña, E. W. Zurita-Bustamante

APPLICATION ASPECTS OF ACTIVE-SET QUADRATIC PROGRAMMING IN REAL-TIME EMBEDDED MODEL PREDICTIVE VIBRATION CONTROL*...... 11625 Gabriel Batista, Gergely Takács, Boris Rohal-Ilkiv

NONLINEAR STATE AND PARAMETER ESTIMATION USING DISCRETE-TIME DOUBLE KALMAN FILTER ...... 11632 Mohammad Abdollahpouri, Mark Haring, Tor Arne Johansen, Gergely Takács, Boris Rohal-Ilkiv

FIXED-TIME CONVERGENT ADAPTIVE OBSERVER FOR LTI SYSTEMS* ...... 11639 Juan G. Rueda-Escobedo, Jaime A. Moreno

TIME DELAY COMPENSATION BASED ON SMITH PREDICTOR IN MULTIAGENT FORMATION CONTROL ...... 11645 Antonio González, Miguel Aranda, Gónzalo López-Nicolás, Carlos Sagüés

THE REPOP TOOLBOX: TACKLING POLYNOMIAL OPTIMIZATION USING RELATIVE ENTROPY RELAXATIONS *...... 11652 Orcun Karaca, Georgios Darivianakis, Paul Beuchat, Angelos Georghiou, John Lygeros

LANDING VEHICLES WITH A UNIVERSAL OPTICAL NAVIGATION SYSTEM...... 11658 Mikhail N. Matveev

ESTIMATION TECHNIQUES IN ROBUST VISION-BASED LANDING OF AERIAL VEHICLES...... 11664 Takuma Nakamura, Daniel Magree, Eric N. Johnson

OPTIMISATION-BASED MOTION PLANNING WITH OBSTACLES AND PRIORITIES*...... 11670 Marcus Greiff, Anders Robertsson

NONLINEAR MODELING OF MINIATURE HELICOPTERS - A COMPARATIVE STUDY BASED ON FLIGHT DATA ...... 11677 Emmanuel Roussel, Vincent Gassmann, Edouard Laroche

STATE ESTIMATION FOR A MULTIROTOR USING TIGHT-COUPLING OF GNSS AND INERTIAL NAVIGATION *...... 11683 Thomas Konrad, Michael Breuer, Thomas Engelhardt, Dirk Abel

ESTIMATION OF THE TEMPERATURE FIELD ON A COMPOSITE FAN COWL USING THE STATIC CAPACITY OF SURFACE-MOUNTED PIEZOCERAMIC TRANSDUCERS...... 11689 Emmanuel Lizé, Marc Rébillat, Nazih Mechbal, Christian Bolzmacher

FROM FACTORY OF THE FUTURE TO FUTURE OF THE FACTORY: INTEGRATION APPROACHES ...... 11695 Flor De Asis Marti Nieto, Virginie Goepp., Emmanuel Caillaud

A MODELLING APPROACH FOR CITY LOCATING LOGISTIC PLATFORMS BASED ON COMBINED FORWARD AND REVERSE FLOWS...... 11701 Nadia Ndhaief, Olivier Bistorin, Nidhal Rezg

INSIGHT FROM A COMPARISON OF TOGAF ADM AND SAM ALIGNMENT PROCESSES ...... 11707 Virginie Goepp, Michaël Petit

A TACTICAL PLANNING MODEL FOR COLLABORATIVE TIMBER TRANSPORT...... 11713 J. François, K. Moad, J.-P. Bourrières, L. Lebel

TOWARDS GREEN SENSING VIRTUAL ENTERPRISES: INTERCONNECTED SENSING ENTERPRISES, INTELLIGENT ASSETS AND SMART PRODUCTS IN THE CYBER-PHYSICAL CIRCULAR ECONOMY...... 11719 David Romero, Ovidiu Noran

PERFORMANCE ANALYSIS OF DISCRETE-TIME AVERAGE CONSENSUS UNDER UNIFORM CONSTANT TIME DELAYS...... 11725 Chengcheng Zhao, Jianping He, Peng Cheng, Jiming Chen

THE BLIND VERSION OF QUANTUM PROCESS TOMOGRAPHY: OPERATING WITH UNKNOWN INPUT VALUES ...... 11731 Yannick Deville, Alain Deville

HYBRID FILTERING FOR A CLASS OF QUANTUM SYSTEMS WITH CLASSICAL DISTURBANCES ...... 11738 Qi Yu, Daoyi Dong, Ian R. Petersen, Qing Gao

AN APPROXIMATE ALGORITHM FOR QUANTUM HAMILTONIAN IDENTIFICATION WITH COMPLEXITY ANALYSIS * ...... 11744 Yuanlong Wang, Daoyi Dong, Ian R. Petersen, Jun Zhang

EXACT ANALYSIS OF QUANTUM FILTER FOR SYSTEMS DRIVEN BY TWO COUNTER-PROPAGATING SINGLE-PHOTON STATES...... 11749 Zhiyuan Dong, Guofeng Zhang, Nina Amini

OPTIMIZED ALL-OPTICAL CONTROL OF SINGLE SPIN QUANTUM DYNAMICS IN DIAMOND *...... 11755 Qi-Ming Chen, Re-Bing Wu

DISPERSIVE-DISSIPATIVE CONTROL STRATEGY FOR QUANTUM COHERENT FEEDBACK *...... 11760 Yoshiki Kashiwamura, Naoki Yamamoto

FRACTIONAL DECISION MAKING MODEL FOR CROWDS OF PEDESTRIANS IN TWO-ALTERNATIVE CHOICE EVACUATION ...... 11764 Ke-Cai Cao, Caibin Zeng, Yangquan Chen, Dong Yue

RECONFIGURABLE EXPRESS LOGISTICS CENTER: A SIMULATION STUDY ...... 11770 Xiang T. R. Kong, Hao Luo

INTERACTIVE EVOLUTION OF FACIAL COMPOSITES ...... 11776 Barbora Zahradnikova, Zuzana Sutova, Peter Schreiber

ON THE COMMUNICATION DISCUSSION OF TWO DISTRIBUTED POPULATION-GAME APPROACHES FOR OPTIMIZATION PURPOSES*...... 11782 J. Barreiro-Gomez, C. Ocampo-Martinez, N. Quijano

INVERSE NONCOOPERATIVE DYNAMIC GAMES*...... 11788 Timothy L. Molloy, Jason J. Ford, Tristan Perez

FINITE TIME ROBUST FEEDBACK NASH EQUILIBRIUM FOR LINEAR QUADRATIC GAMES...... 11794 Nain De La Cruz, Manuel Jimenez-Lizarraga

CONSTRAINED BAYESIAN OPTIMIZATION WITH PARTICLE SWARMS FOR SAFE ADAPTIVE CONTROLLER TUNING...... 11800 Rikky R. P. R. Duivenvoorden, Felix Berkenkamp, Nicolas Carion, Andreas Krause, Angela P. Schoellig

AN IMPROVED APPROACH TO THE LQ NON-GAUSSIAN REGULATOR PROBLEM ...... 11808 S. Battilotti, F. Cacace, M. D’Angelo, A. Germani

APPROXIMATE DYNAMIC PROGRAMMING VIA PENALTY FUNCTIONS*...... 11814 Paul N. Beuchat, John Lygeros

NESTED DISTRIBUTED MPC* ...... 11822 Pablo R. Baldivieso Monasterios, Bernardo Hernandez, Paul A. Trodden

DISTRIBUTED MPC: GUARANTEEING GLOBAL STABILITY FROM LOCALLY DESIGNED TUBES *...... 11829 Bernardo Hernandez, Pablo Baldivieso, Paul Trodden

STATE-CONSTRAINED CONTROL OF NONLINEAR SYSTEMS IN REGULAR FORM* ...... 11835 Salvador Gutiérrez-Alcalá, Alexander G. Loukianov, Edgar N. Sanchez

EVENT-TRIGGERED GLOBAL STABILIZATION OF NEUTRALLY STABLE LINEAR SYSTEMS WITH ACTUATOR SATURATION ...... 11841 Yijing Xie, Zongli Lin

STABILITY AND PERFORMANCE ANALYSIS OF SATURATED SYSTEMS USING AN ENHANCED MAX QUADRATIC LYAPUNOV FUNCTION* ...... 11847 Yuanlong Li, Zongli Lin, Ning Li

DYNAMIC CONTROLLER DESIGN FOR SYNCHRONIZATION OF LUR’E TYPE SYSTEMS SUBJECT TO CONTROL SATURATION ...... 11853 M. Fischmann, J. V. Flores, J. M. Gomes Da Silva Jr.

REGIONAL MPC WITH ACTIVE SET UPDATES* ...... 11859 Kai König, Martin Mönnigmann

PROXIMAL LIMITED-MEMORY QUASI-NEWTON METHODS FOR SCENARIO-BASED STOCHASTIC OPTIMAL CONTROL *...... 11865 Ajay Kumar Sampathirao, Pantelis Sopasakis, Alberto Bemporad, Panagiotis Patrinos

EMBEDDED MODEL PREDICTIVE DIRECT SWITCHING CONTROL FOR HIGH PERFORMANCE ELECTRICAL DRIVES - A QUANTITATIVE COMPARISON ...... 11871 Johannes Köhler, Maximilian Manderla, Florian Malchow

NONLINEAR PREDICTIVE CONTROL ON A HETEROGENEOUS COMPUTING PLATFORM ...... 11877 Bulat Khusainov, Eric C. Kerrigan, Andrea Suardi, George A. Constantinides

MODEL PREDICTIVE CONTROL FOR AUTONOMOUS NAVIGATION USING EMBEDDED GRAPHICS PROCESSING UNIT ...... 11883 Duc-Kien Phung, Bruno Hérissé, Julien Marzat, Sylvain Bertrand

ON THE IMPACT OF ADDITIVE DISTURBANCES ON AUTO-STEERING SYSTEMS ...... 11889 I. Ballesteros-Tolosana, S. Olaru, P. Rodriguez-Ayerbe, M. Hovd, R. Deborne, G. Pita-Gil

OPINION EVOLUTION IN TIME-VARYING SOCIAL INFLUENCE NETWORKS WITH PREJUDICED AGENTS...... 11896 Anton V. Proskurnikov, Roberto Tempo, Ming Cao, Noah E. Friedkin

ON THE ANALYSIS OF THE DEGROOT-FRIEDKIN MODEL WITH DYNAMIC RELATIVE INTERACTION MATRICES *...... 11902 Mengbin Ye, Ji Liu, Brian D. O. Anderson, Changbin Yu, Tamer Basar

FAST DIFFUSION OF A MUTANT IN CONTROLLED EVOLUTIONARY DYNAMICS* ...... 11908 Lorenzo Zino, Giacomo Como, Fabio Fagnani

EVOLUTIONARY GAME DYNAMICS FOR COLLECTIVE DECISION MAKING IN STRUCTURED AND UNSTRUCTURED ENVIRONMENTS ...... 11914 Leonardo Stella, Dario Bauso

CONSENSUS STABILITY IN THE HEGSELMANN-KRAUSE MODEL WITH COOPETITION AND COOPEROSITY...... 11920 Domenico Tangredi, Raffaele Iervolino, Francesco Vasca

STATIC TEAMS WITH COMMON INFORMATION...... 11926 M. Afshari, A. Mahajan

AUTOMATIC TAKE-OFF OF A TETHERED AIRCRAFT FOR AIRBORNE WIND ENERGY: CONTROL DESIGN AND EXPERIMENTAL RESULTS...... 11932 L. Fagiano, E. Nguyen-Van, F. Rager, S. Schnez, C. Ohler

DYNAMICS IDENTIFICATION, FILTERING AND CONTROL DESIGN FOR POWER KITES * ...... 11938 Ramiro Saraiva, Marcelo De Lellis, Eduardo Schmidt, Alexandre Trofino

MODELING OF AN AIRBORNE WIND ENERGY SYSTEM WITH A FLEXIBLE TETHER MODEL FOR THE OPTIMIZATION OF LANDING TRAJECTORIES *...... 11944 Jonas Koenemann, Paul Williams, Soeren Sieberling, Moritz Diehl

AERODYNAMIC PARAMETER IDENTIFICATION FOR AN AIRBORNE WIND ENERGY PUMPING SYSTEM *...... 11951 G. Licitra, P. Williams, J. Gillis, S. Ghandchi, S. Sieberling, R. Ruiterkamp, M. Diehl

STATE ESTIMATION FOR KITE POWER SYSTEMS WITH DELAYED SENSOR MEASUREMENTS* ...... 11959 Max Polzin, Tony A. Wood, Henrik Hesse, Roy S. Smith

NESTED PLANT/CONTROLLER CO-DESIGN USING G-OPTIMAL DESIGN AND EXTREMUM SEEKING: THEORETICAL FRAMEWORK AND APPLICATION TO AN AIRBORNE WIND ENERGY SYSTEM* ...... 11965 Joe Deese, Nihar Deodhar, Chris Vermillion

REFINED EXPONENTIAL STABILITY ANALYSIS OF A COUPLED SYSTEM * ...... 11972 Mohammed Safi, Lucie Baudouin, Alexandre Seuret

LYAPUNOV STABILITY ANALYSIS OF A LINEAR SYSTEM COUPLED TO A HEAT EQUATION.* ...... 11978 Lucie Baudouin, Alexandre Seuret, Frédéric Gouaisbaut, Marianne Dattas

WIRTINGER-BASED EXPONENTIAL STABILITY FOR TIME-DELAY SYSTEMS...... 11984 Matthieu Barreau, Alexandre Seuret, Frédéric Gouaisbaut

COMPUTATION OF THE REGION OF ATTRACTION FOR A CLASS OF NONLINEAR NEUTRAL TYPE DELAY SYSTEMS * ...... 11990 Marco A. Gomez, Alexey V. Egorov, Sabinie Mondié

BOUNDARY VIBRATION CONTROL OF A VARIABLE LENGTH CRANE SYSTEM IN TWO DIMENSIONAL SPACE WITH OUTPUT CONSTRAINTS * ...... 11996 Xiuyu He, Jing Shi, Wei He, Changyin Sun

BOUNDARY CONTROL OF REACTION-DIFFUSION EQUATION WITH STATE-DELAY IN THE PRESENCE OF SATURATION* ...... 12002 Wen Kang, Emilia Fridman

AN ASYNCHRONOUS ALGORITHM FOR OPTIMAL VEHICLE COORDINATION AT TRAFFIC INTERSECTIONS* ...... 12008 Mario Zanon, Sébastien Gros, Henk Wymeersch, Paolo Falcone

DISTRIBUTED/HIERARCHICAL CONTROL ARCHITECTURE DESIGN * ...... 12015 Wentao Tang, Prodromos Daoutidis

A HIERARCHICAL MPC SCHEME FOR INTERCONNECTED SYSTEMS ...... 12021 M. Farina, X. Zhang, R. Scattolini

INTER-LAYER INTERACTIONS IN HIERARCHICAL MPC FOR BUILDING ENERGY MANAGEMENT SYSTEMS...... 12027 Amanda Abreu, Romain Bourdais, Hérvé Guéguen

PART 19

DISTRIBUTED ECONOMIC MPC WITH SAFETY-BASED CONSTRAINTS FOR NONLINEAR SYSTEMS*...... 12033 Fahad Albalawi, Helen Durand, Panagiotis D. Christofides

HIERARCHICAL MPC OF BATCH REACTORS WITH SHARED RESOURCES* ...... 12041 Lukas S. Maxeiner, Sebastian Engell

ANALYSIS AND REALIZATION OF ROBOT ACTUATOR BASED ON BIDIRECTIONAL DRIVABILITY MATRIX...... 12047 Yusuke Kawai, Yuki Yokokura, Kiyoshi Ohishi, Pattawan Boonwong

AUGMENTED INVARIANCE CONTROL FOR IMPEDANCE-CONTROLLED ROBOTS WITH SAFETY MARGINS...... 12053 Christoph Jähne, Sandra Hirche

FAST STIFFNESS ESTIMATION USING ACCELERATION-BASED IMPEDANCE CONTROL AND ITS APPLICATION TO BILATERAL CONTROL* ...... 12059 Daisuke Yashiro

RESONANCE SUPPRESSION OF ELECTRO-HYDROSTATIC ACTUATOR BY FULL STATE FEEDBACK CONTROLLER USING LOAD-SIDE INFORMATION AND RELATIVE VELOCITY...... 12065 Sho Sakaino, Toshiaki Tsuji

IMPROVEMENT OF FORCE TRANSMISSION PERFORMANCE CONSIDERING NONLINEAR FRICTION IN BILATERAL CONTROL SYSTEMS...... 12071 Kenta Seki, Shota Fujihara, Makoto Iwasaki

FORCE SENSORLESS MULTI-FUNCTIONAL IMPEDANCE CONTROL FOR REHABILITATION ROBOT* ...... 12077 Jung Hyun Choi, Ji Hoo Kwak, Jinung An, Sehoon Oh

CONVERGENCE FOR SISO ILC SYSTEMS WITH LOCALLY LIPSCHITZ NONLINEAR DYNAMICS* ...... 12083 Deyuan Meng, Kevin L. Moore

A HOME-BASED FES SYSTEM FOR UPPER-LIMB STROKE REHABILITATION WITH ITERATIVE LEARNING CONTROL ...... 12089 Mustafa Kutlu, Chris Freeman, Ann-Marie Hughes, Matthew Spraggs

ITERATIVE LEARNING OF FEASIBLE TIME-OPTIMAL TRAJECTORIES FOR ROBOT MANIPULATORS ...... 12095 Armin Steinhauser, Jan Swevers

INVERTING NONMINIMUM-PHASE SYSTEMS FROM THE PERSPECTIVES OF FEEDFORWARD AND ILC* ...... 12101 Jurgen Van Zundert, Tom Oomen

FLEXIBLE ILC: TOWARDS A CONVEX APPROACH FOR NON-CAUSAL RATIONAL BASIS FUNCTIONS ...... 12107 Lennart Blanken, Goksan Isil, Sjirk Koekebakker, Tom Oomen

DATA-BASED ITERATIVE HUMAN-IN-THE-LOOP ROBOT-LEARNING FOR OUTPUT TRACKING...... 12113 Rahul B. Warrier, Santosh Devasia

CHECKING ALGEBRAIC REACHABILITY OF POLYNOMIAL AND RATIONAL SYSTEMS* ...... 12119 Jana Nemcová, Jan H. Van Schuppen

A CONSTRAINED K-MEANS AND NEAREST NEIGHBOR APPROACH FOR ROUTE OPTIMIZATION IN THE BALE COLLECTION PROBLEM...... 12125 David S. Zamar, Bhushan Gopaluni, Shahab Sokhansanj

DYNAMIC ANALYSIS OF QUORUM-SENSING GENETIC OSCILLATORS WITH THE INFLUENCE OF EXTERNAL MEDIUM ...... 12131 Guang Ling, Zhi-Hong Guan, Bin Hu, Ming Chi, Tao Li, Feng Liu

ANALYSIS AND MODELLING OF AN INDUSTRIAL PRESSURE FILTRATION USING PROCESS DATA * ...... 12137 F. D. Bähner, P. A. Santacoloma, J. Abildskov, J. K. Huusom

DYNAMIC MODELING OF HYBRIDOMA CELL CULTURES USING MAXIMUM LIKELIHOOD PRINCIPAL COMPONENT ANALYSIS...... 12143 L. Dewasme, F. Cote, P. Filee, A.-L. Hantson, A. Vande Wouwer

ENCOURAGING STUDENT LEARNING OF CONTROL BY EMBEDDING FREEDOM INTO THE CURRICULUM: STUDENT PERSPECTIVES AND PRODUCTS ...... 12149 J. A. Rossiter, L. Barnett, E. Cartwright, J. Patterson, N. Shorten, J. Taylor

TEACHING ROBOTICS IN SECONDARY SCHOOL...... 12155 Sergey Filippov, Natalia Ten, Ilya Shirokolobov, Alexander Fradkov

AUTOMATIC CONTROL EDUCATION IN A CDIO PERSPECTIVE ...... 12161 Svante Gunnarsson

TEACHING ROBOTICS IN SECONDARY SCHOOL: EXAMPLES AND OUTCOMES...... 12167 Sergey A. Filippov, Natalia G. Ten, Alexander L. Fradkov

ENGINEERING EDUCATION IN WHEELED MOBILE ROBOTICS ...... 12173 Andrej Zdešar, Sašo Blažic, Gregor Klancar

CYBERSECURITY TRAINING IN CONTROL SYSTEMS USING REAL EQUIPMENT*...... 12179 Manuel Domínguez, Miguel A. Prada, Perfecto Reguera, Juan J. Fuertes, Serafin Alonso, Antonio Morán

INVERSE OPTIMAL IMPULSIVE CONTROL BASED TREATMENT OF INFLUENZA INFECTION *...... 12185 Gustavo Hernandez-Mejia, Alma Y. Alanis, Esteban A. Hernandez-Vargas

ADAPTIVE BIOMEDICAL TREATMENT AND ROBUST CONTROL ...... 12191 Q. Clairon, E. D. Wilson, R. Henderson, C. J. Taylor

TIME-OPTIMAL CONTROL FOR THE INDUCTION PHASE OF ANESTHESIA...... 12197 Said Zabi, Isabelle Queinnec, Germain Garcia, Michel Mazerolles

COMPARING METHODS FOR PARAMETER ESTIMATION OF THE GOMPERTZ TUMOR GROWTH MODEL ...... 12203 Spyridon Patmanidis, Alexandros C. Charalampidis, Ioannis Kordonis, Georgios D. Mitsis, George P. Papavassilopoulos

A DATA-DRIVEN GAIN ADAPTATION MECHANISM FOR FLEXIBLE USABILITY IN THE UGENT KNEE RIG...... 12210 Amélie Chevalier, Brecht De Vlieger, Matthias Verstraete, Clara Ionescu, Robin De Keyser

A BICOMPARTMENTAL DYNAMIC TUMOR GROWTH MODEL*...... 12216 Dávid Csercsik, Johanna Sápi, Levente Kovács

CO-DESIGN OF EMBEDDABLE DIAGNOSTICS USING REDUCED-ORDER MODELS*...... 12222 Gregory Provan

RELIABILITY COMPUTATION WITHIN AN MPC HEALTH-AWARE FRAMEWORK ...... 12230 Jean C. Salazar, Ramon Sarrate, Fatiha Nejjari, Philippe Weber, Didier Theilliol

ANALYSIS AND DESIGN OF DIAGNOSIS SYSTEMS BASED ON THE STRUCTURAL DIFFERENTIAL INDEX ...... 12236 Erik Frisk, Mattias Krysander, Jan Åslund

EVALUATION OF THE RELIABILITY OF NON-COHERENT SYSTEMS USING BINARY DECISION DIAGRAMS...... 12243 Ayyoub Juba Imakhlaf, Yunhui Hou, Mohamed Sallak

DEGRADATION MODELING AND RUL ESTIMATION OF DETERIORATING SYSTEMS IN S-PLANE ...... 12249 K. T. Huynh, Y. Langeron, A. Grall

A HYBRID DEA-ADABOOST MODEL IN SUPPLIER SELECTION FOR FUZZY VARIABLE AND MULTIPLE OBJECTIVES ...... 12255 Yijun Cheng, Jun Peng, Zhuofu Zhou, Xin Gu, Weirong Liu

NASH BARGAINING EQUILIBRIA FOR CONTROLLABLE MARKOV CHAINS GAMES...... 12261 Kristal K. Trejo, Julio B. Clempner, Alexander S. Poznyak

ON ROBUSTNESS OF SIMULTANEOUS LONG-SHORT STOCK TRADING CONTROL WITH TIME- VARYING PRICE DYNAMICS ...... 12267 James A. Primbs, B. Ross Barmish

RISK-SENSITIVE LOWEST UNIQUE BID AUCTIONS ...... 12273 Yida Xu, Hamidou Tembine

CONTROL OF BROKERAGE MARGINS*...... 12279 Giuseppe C. Calafiore, Leonardo Massai

DISTRIBUTED NEGOTIATION WITH A CLASS OF QUADRATIC COST FUNCTIONS* ...... 12285 Luis Orihuela, Pablo Millán, Juan F. Carbonell-Márquez

OPEN AND CLOSED-LOOP CONTROL OF A TRIANGULAR BLUFF BODY USING ROTATING CYLINDERS...... 12291 C. Raibaudo, P. Zhong, R. J. Martinuzzi, B. R. Noack

CONVERGENCE OF APPROXIMATIONS TO RICCATI-BASED BOUNDARY-FEEDBACK STABILIZATION OF LAMINAR FLOWS ...... 12296 P. Benner, J. Heiland

FICTITIOUS DOMAIN FOR STABILIZATION OF FLUID-STRUCTURE INTERACTION ...... 12301 Michel Fournié, Jonathan Morrison

MACHINE LEARNING CONTROL FOR EXPERIMENTAL SHEAR FLOWS TARGETING THE REDUCTION OF A RECIRCULATION BUBBLE...... 12307 C. Chovet, L. Keirsbulck, B. R. Noack, M. Lippert, J-M. Foucaut

CLOSED-LOOP CONTROL OF A SPATIALLY DEVELOPING FREE SHEAR FLOW AROUND A STEADY STATE* ...... 12312 D. Anda-Ondo, J. Carlier, C. Collewet

SIMPLIFIED NON-UNIFORM MODELS FOR VARIOUS FLOW CONFIGURATIONS IN OPEN CHANNELS...... 12320 Violaine Dalmas, Gérard Robert, Gildas Besançon, Didier Georges

SUPERVISORY CONTROL FOR HIGH-VOLTAGE DIRECT CURRENT TRANSMISSION SYSTEMS ...... 12326 Miguel Romero Rodríguez, Romain Delpoux, Laurent Piétrac, Jing Dai, Abdelkrim Benchaib, Eric Niel

SECURITY AGAINST NETWORK ATTACKS IN SUPERVISORY CONTROL SYSTEMS ...... 12333 Públio M. Lima, Marcos V. S. Alves, Lilian K. Carvalho, Marcos V. Moreira

TIMED SUPERVISORY CONTROL OF AN INDUSTRIAL GLASS BONDING SYSTEM* ...... 12339 Thiago Monteiro Tuxi, Antonio Eduardo Carrilho Da Cunha

TIMED AUTOMATA SUPERVISORY CONTROL OF A GLASS BONDING SYSTEM*...... 12345 Eduardo Ottavio Chianello Correia, Antonio Eduardo Carrilho Da Cunha

A SIGNAL-INTERPRETED APPROACH TO THE SUPERVISORY CONTROL THEORY PROBLEM...... 12351 Kevin Fouquet, Julien Provost

SAFE CONTROLLABILITY USING ONLINE PROGNOSIS ...... 12359 Ana T. Y. Watanabe, André B. Leal, José E. R. Cury, Max H. De Queiroz

RANGE-BASED COOPERATIVE UNDERWATER TARGET LOCALIZATION* ...... 12366 N. Crasta, D. Moreno-Salinas, A. M. Pascoal, J. Aranda

REAL-TIME MODEL PREDICTIVE LINE FOLLOWING CONTROL FOR UNDERACTUATED MARINE VEHICLES...... 12374 Nadir Kapetanovic, Marco Bibuli, Nikola Miškovic, Massimo Caccia

EMPLOYMENT OF AN AUTONOMOUS UNDERWATER VEHICLE AS MOBILE BRIDGE AMONG HETEROGENEOUS ACOUSTIC NODES ...... 12380 Benedetto Allotta, Alessandro Ridolfi, Matteo Bianchi, Francesco Fanelli, Jonathan Gelli, Niccolo Monni, Daniele Nocciolini, Marco Pagliai, Libero Paolucci, Tommaso Pecorella

TOWARDS POSIDONIA MEADOWS DETECTION, MAPPING AND AUTOMATIC RECOGNITION USING UNMANNED MARINE VEHICLES...... 12386 Roberta Ferretti, Marco Bibuli, Massimo Caccia, Davide Chiarella, Angelo Odetti, Andrea Ranieri, Enrica Zereik, Gabriele Bruzzone

APPLICATION OF DATA DRIVEN CONTROL TO DYNAMIC POSITIONING ...... 12392 Vahid Hassani, Tord F. Onstein, António M. Pascoal

EIGENSTRUCTURE ASSIGNMENT FOR THE POSITION REGULATION OF A FULLY-ACTUATED MARINE CRAFT*...... 12398 Christina Kazantzidou, Tristan Perez, Francis Valentinis

MULTI-CRITERIA DECISION MAKING FOR THE SELECTION OF A PERFORMANT MANUAL WORKSHOP LAYOUT: A CASE STUDY ...... 12404 Mariem Besbes, Roberta Costa Affonso, Marc Zolghadri, Faouzi Masmoudi, Mohamed Haddar

ENGINEERING CHANGE MANAGEMENT: A NOVEL APPROACH FOR DEPENDENCY IDENTIFICATION AND CHANGE PROPAGATION FOR PRODUCT REDESIGN ...... 12410 Mahmoud Masmoudi, Patrice Leclaire, Marc Zolghadri, Mohamed Haddar

DYNAMIC SOFTWARE UPDATING OF IEC 61499 IMPLEMENTATION USING ERLANG RUNTIME SYSTEM...... 12416 Laurin Prenzel, Julien Provost

ANALYSIS OF BIKE SHARING SYSTEM BY CLUSTERING: THE VÉLIB’ CASE...... 12422 Yunlong Feng, Roberta Costa Affonso, Marc Zolghadri

OPERATIONAL SUPPLY CHAIN PLANNING METHOD FOR INTEGRATING SPARE PARTS SUPPLY CHAINS AND INTELLIGENT MAINTENANCE SYSTEMS...... 12428 Eduardo F. Israel, André Albrecht, Enzo M. Frazzon, Bernd Hellingrath

THE ROLE OF INTEROPERABILITY IN THE FOURTH INDUSTRIAL REVOLUTION ERA...... 12434 Yongxin Liao, Luiz Felipe Pierin Ramos, Maicon Saturno, Fernando Deschamps, Eduardo De Freitas Rocha Loures, Anderson Luis Szejka

PLUG-AND-PLAY CONTROL AND CONSENSUS ALGORITHMS FOR CURRENT SHARING IN DC MICROGRIDS ...... 12440 Michele Tucci, Lexuan Meng, Josep M. Guerrero, Giancarlo Ferrari-Trecate

ADAPTIVE PRICING FOR OPTIMAL RESOURCE ALLOCATION IN INDUSTRIAL PRODUCTION SITES*...... 12446 Simon Wenzel, Radoslav Paulen, Benedikt Beisheim, Stefan Krämer, Sebastian Engell

DISTRIBUTED MODEL PREDICTIVE CONTROL OF PROCESS NETWORKS: IMPACT OF CONTROL ARCHITECTURE* ...... 12452 Davood Babaei Pourkargar, Ali Almansoori, Prodromos Daoutidis

A FRAMEWORK FOR THE SIMULATION AND VALIDATION OF DISTRIBUTED CONTROL ARCHITECTURES FOR TECHNICAL SYSTEMS OF SYSTEMS*...... 12458 Shaghayegh Nazari, Simon Wenzel, Lukas Samuel Maxeiner, Christian Sonntag, Sebastian Engell

DISTRIBUTED DIFFERENTIALLY PRIVATE MODEL PREDICTIVE CONTROL FOR ENERGY STORAGE...... 12464 M. Zellner, T. Tinoco De Rubira, G. Hug, M. N. Zeilinger

CONSTRAINED BUNDLE METHODS WITH INEXACT MINIMIZATION APPLIED TO THE ENERGY REGULATION PROVISION PROBLEM* ...... 12471 Tomasz T. Gorecki, Colin N. Jones

PLANNING DRAGLINE POSITIONING SEQUENCE WITH A * SEARCH ALGORITHM * ...... 12477 Haoquan Liu, Michael Kearney, Michael Forbes

OPTIMIZATION OF MAINTENANCE SCHEDULE FOR SAFETY INSTRUMENTED SYSTEMS ...... 12484 Dina Martynova, Ping Zhang

AN EFFICIENT ALGORITHM FOR SCHEDULING A FLEXIBLE JOB SHOP WITH BLOCKING AND NO- WAIT CONSTRAINTS*...... 12490 A. Aschauer, F. Roetzer, A. Steinboeck, A. Kugi

RANKING ARGUMENTS BASED ON COUNTER-TRANSITIVITY...... 12496 Fuan Pu, Guiming Luo

A SYSTEM IDENTIFICATION BASED FRAMEWORK FOR GENOME-SCALE METABOLIC MODEL VALIDATION AND REFINEMENT ...... 12502 Andrew Damiani, Q. Peter He, Jin Wang

A MOLIZOFT SYSTEM IDENTIFICATION APPROACH OF THE JUST WALK DATA...... 12508 P. Lopes Dos Santos, M. T. Freigoun, D. E. Rivera, E. B. Hekler, C. A. Martin, R. Romano, T.-P. Perdicoulis, J. A. Ramos

RISK LEVEL ASSESSMENT FOR REAR-END COLLISION WITH BAYESIAN NETWORK ...... 12514 Jean-Nicola Russo, Thomas Sproesser, Frédéric Drouhin, Michel Basset

MULTI-CRITERIA TRAJECTORY OPTIMIZATION FOR AUTONOMOUS VEHICLES...... 12520 Jean-Baptiste Receveur, Stéphane Victor, Pierre Melchior

COUPLED LONGITUDINAL AND LATERAL CONTROL FOR AN AUTONOMOUS VEHICLE DYNAMICS MODELED USING A ROBOTICS FORMALISM...... 12526 A. Chebly, R. Talj, A. Charara

FINITE-TIME STABILIZATION OF LONGITUDINAL CONTROL FOR AUTONOMOUS VEHICLES VIA A MODEL-FREE APPROACH* ...... 12533 Philip Polack, Brigitte D’Andréa-Novel, Michel Fliess, Arnaud De La Fortelle, Lghani Menhour

A COMPARISON OF TWO GUIDANCE STRATEGIES FOR AUTONOMOUS VEHICLES...... 12539 Mohamed Boudali, Rodolfo Orjuela, Michel Basset

TRAJECTORY PLANNING FOR AUTONOMOUS VEHICLE IN UNCERTAIN ENVIRONMENT USING EVIDENTIAL GRID ...... 12545 Hafida Mouhagir, Véronique Cherfaoui, Reine Talj, François Aioun, Franck Guillemard

OPTIMAL SPEED TRAJECTORIES UNDER VARIATIONS IN THE DRIVING CORRIDOR...... 12551 Manne Henriksson, Oscar Flärdh, Jonas Mårtensson

OPTIMAL ECO-DRIVING FOR CONVENTIONAL VEHICLES: SIMULATION AND EXPERIMENT ...... 12557 D. Maamria, K. Gillet, G. Colin, Y. Chamaillard, C. Nouillant

ENERGY-OPTIMAL ADAPTIVE CRUISE CONTROL BASED ON MODEL PREDICTIVE CONTROL ...... 12563 Andreas Weißmann, Daniel Görges, Xiaohai Lin

CRUISE CONTROL OF AN ELECTRIC VEHICLE THROUGH FRACTIONAL LINEAR FEEDFORWARD & PREFILTERING OF AN ACCELERATION REFERENCE SIGNAL...... 12569 Alexandre Taymans, Pierre Melchior, Rachid Malti, François Aioun, Franck Guillemard, Alain Servel

ROBUST CONTROL FOR AN ELECTRO-MECHANICAL ANTI-LOCK BRAKING SYSTEM: THE CRONE APPROACH...... 12575 Andre Benine-Neto, Xavier Moreau, Patrick Lanusse

COOPERATIVE ADAPTIVE CRUISE CONTROL FOR VEHICLE FOLLOWING DURING LANE CHANGES* ...... 12582 Klaus W. Schmidt

THE IRT-BUGGY – VEHICLE PLATFORM FOR RESEARCH AND EDUCATION ...... 12588 Matthias Reiter, Matthias Wehr, Florian Sehr, Andreas Trzuskowsky, Robin Taborsky, Dirk Abel

VEHICULAR PLATOONING EXPERIMENTS USING AUTONOMOUS SLOT CARS* ...... 12596 Martin Lád, Ivo Herman, Zdenek Hurák

COMPARISON OF BACKSTEPPING AND SLIDING MODE CONTROL TECHINIQUES FOR A HIGH PERFORMANCE ACTIVE VEHICLE SUSPENSION SYSTEM ...... 12604 Lihle I. Nkomo, Otis T. Nyandoro, Albert Dove

STOCHASTIC MODELING AND CONTROL OF BIOREACTORS* ...... 12611 J. Fontbona, H. Ramírez C., V. Riquelme, F. J. Silva

A COMPREHENSIVE REDUCED MODEL OF THE MAMMALIAN CELL CYCLE ...... 12617 S. Almeida, M. Chaves, F. Delaunay, C. Feillet

EXTREMUM-SEEKING CONTROL APPROACH BASED ON THE INFLUENT VARIABILITY FOR ANAEROBIC DIGESTION OPTIMIZATION...... 12623 Marian Barbu, Emil Ceanga, Ramon Vilanova, Sergiu Caraman, George Ifrim

STRUCTURAL IDENTIFICATION OF BIOCHEMICAL REACTION NETWORKS FROM POPULATION SNAPSHOT DATA ...... 12629 Eugenio Cinquemani

ADAPTIVE NONLINEAR PREDICTIVE CONTROL AND ESTIMATION OF MICROAEROBIC PROCESSES ...... 12635 Sergio Lucia, Lisa Carius, Rolf Findeisen

MODELING AND SPECIFIC GROWTH RATES ESTIMATION OF A TWO-STAGE ANAEROBIC DIGESTION PROCESS FOR HYDROGEN AND METHANE PRODUCTION ...... 12641 Sette Diop, Elena Chorukova, Ivan Simeonov

CONTROL STRATEGIES FOR MITIGATING THE EFFECT OF EXTERNAL PERTURBATIONS ON GENE REGULATORY NETWORKS...... 12647 Mathias Foo, Iulia Gherman, Katherine J. Denby, Declan G. Bates

DESIGN OF A TRANSLATION RESOURCE ALLOCATION CONTROLLER TO MANAGE CELLULAR RESOURCE LIMITATIONS* ...... 12653 Alexander P. S. Darlington, Juhyun Kim, José I. Jiménez, Declan G. Bates

PRINCIPAL PROCESS ANALYSIS AND REDUCTION OF BIOLOGICAL MODELS WITH ORDER OF MAGNITUDE...... 12661 Stefano Casagranda, Jean-Luc Gouzé

ROBUST ADAPTIVE FEEDFORWARD OUTPUT-FEEDBACK TRACKING CONTROL FOR MICROALGAE CULTURES ...... 12667 A. Schaum, H. Weisbarth, T. Meurer

ANAEROBIC DIGESTER OPTIMIZATION USING EXTREMUM SEEKING AND MODEL-BASED ALGORITHMS. A COMPARATIVE STUDY...... 12673 S. Caraman, M. Barbu, G. Ifrim, M. Titica, E. Ceanga

MODELING & ANALYSIS OF GENE EXPRESSION AS A NONLINEAR FEEDBACK PROBLEM WITH STATE-DEPENDENT DELAY...... 12679 Aftab Ahmed, Erik I. Verriest

DESIGN AND 3D MOTION MODELING OF A 300-M GLIDING ROBOTIC DOLPHIN* ...... 12685 Jun Yuan, Zhengxing Wu, Junzhi Yu, Chao Zhou, Min Tan

RECONFIGURATION CONTROL METHOD FOR MULTIPLE ACTUATOR FAULTS ON UAV...... 12691 A. Boche, J-L. Farges, H. De Plinval

HIERARCHICAL CONTROL OF THE OVER-ACTUATED ROSPO PLATFORM VIA STATIC INPUT ALLOCATION*...... 12698 C. Nainer, M. Furci, A. Seuret, L. Zaccarian, A. Franchi

PART 20

NONLINEAR DISTURBANCE OBSERVER FOR OBJECT GRASPING/MANIPULATION BY MULTI- FINGERED ROBOT HAND...... 12704 S. Ueki, T. Mouri, H. Kawasaki

MOBILE ROBOT NAVIGATION UNDER POSE UNCERTAINTY IN UNKNOWN ENVIRONMENTS* ...... 12710 Ioannis Arvanitakis, Anthony Tzes, Konstantinos Giannousakis

CONTROL OF FULLY ACTUATED UNMANNED AERIAL VEHICLES WITH ACTUATOR SATURATION*...... 12715 Bryan Convens, Kelly Merckaert, Marco M. Nicotra, Roberto Naldi, Emanuele Garone

BILATERAL TELE-OPERATED HAND ROBOT WITH COMMUNICATIONAL TIME DELAY ...... 12721 T. Mouri, H. Kawasaki, S. Ueki

METHODOLOGY FOR DESIGN OF MECHATRONIC ROBOTIC MANIPULATORS BASED ON SUITABILITY FOR MODERN APPLICATION SCENARIOS* ...... 12727 R. Müller, M. Vette, A. Geenen, T. Masiak, A. Kanso

AUGMENTING ULTRA-WIDEBAND LOCALIZATION WITH COMPUTER VISION FOR ACCURATE FLIGHT...... 12734 David Hoeller, Anton Ledergerber, Michael Hamer, Raffaello D’Andrea

A NEW PROCEDURE FOR TUNING AN ALLOCATOR AND DESIGNING A ROBUST HIGH-LEVEL CONTROL LAW FOR OVER-ACTUATED SYSTEMS. * ...... 12741 Hélène Evain, Mathieu Rognant, Daniel Alazard, Jean Mignot

INDUSTRIAL ROBOT TOOL POSITION ESTIMATION USING INERTIAL MEASUREMENTS IN A COMPLEMENTARY FILTER AND AN EKF...... 12748 E. Hedberg, J. Norén, M. Norrlöf, S. Gunnarsson

INTERACTING WITH A MOBILE ROBOT WITH A NATURAL INFRASTRUCTURE-LESS INTERFACE...... 12753 Valeria Villani, Lorenzo Sabattini, Giuseppe Riggio, Alessio Levratti, Cristian Secchi, Cesare Fantuzzi

RELATIVE HEADING BASED PATTERN GENERATION...... 12759 Shashank Agarwal, Twinkle Tripathy, Aseem Borkar, Arpita Sinha

REAL-TIME FINGER GAITS PLANNING FOR DEXTEROUS MANIPULATION*...... 12765 Yongxiang Fan, Wei Gao, Wenjie Chen, Masayoshi Tomizuka

TURNING THEORY TO PRACTICE IN MODEL-BASED FDI: SUCCESSFUL APPLICATION TO NEW GENERATION AIRBUS AIRCRAFT ...... 12773 A. Zolghadrit, J. Cieslakt, P. Goupil, R. Dayre

DIAGNOSIS OF INCIPIENT FAULT CONDITIONS IN BATCH PROCESSES USING ESTIMATED DATA COVARIANCE STRUCTURES ...... 12779 Yan Qin, Chunhui Zhao, Uwe Kruger, Shumei Zhang

DETERIORATION ESTIMATION FOR REMAINING USEFUL LIFETIME PROGNOSIS IN A FRICTION DRIVE SYSTEM...... 12785 Diego J. Rodriguez, John J. Martinez, Christophe Berenguer

SENSOR ANOMALY DETECTION AND RECOVERY IN THE ROLL DYNAMICS OF A DELTA-WING AIRCRAFT VIA MONTE CARLO AND MAXIMUM LIKELIHOOD METHODS*...... 12791 Mohammad Deghat, Evangelia Lampiri

A COMPARISON OF DATA-DRIVEN FAULT DETECTION METHODS WITH APPLICATION TO AEROSPACE ELECTRO-MECHANICAL ACTUATORS...... 12797 M. Mazzoleni, Y. Maccarana, F. Previdi

MODEL-BASED PREDICTION OF THE REMAINING USEFUL LIFE OF THE MACHINES ...... 12803 P. Boškoski, B. Dolenc, B. Musizza, D. Juricic

A FRACTIONAL-ORDER POSITIVE POSITION FEEDBACK COMPENSATOR FOR ACTIVE VIBRATION CONTROL ...... 12809 L. Marinangeli, F. Alijani, S. H. Hosseinnia

GRID FREQUENCY ESTIMATION USING MULTIPLE MODEL WITH HARMONIC REGRESSOR: ROBUSTNESS ENHANCEMENT WITH STEPWISE SPLITTING METHOD...... 12817 Alexander Stotsky

A MULTI-OBJECTIVE CLUSTERING-BASED MEMBERSHIP FUNCTIONS FORMATION METHOD FOR FUZZY MODELING OF GAS PIPELINE PRESSURE...... 12823 Z. Lv, J. Zhao, Y. Liu, W. Wang, M. Han

TEC MODELLING VIA NEURAL NETWORK USING OBSERVATIONS FROM THE FIRST GLONASS R&D DATA NETWORK IN BRAZIL AND THE RBMC...... 12829 Arthur A. Ferreira, Renato A. Borges, Claudia Paparini, Sandro M. Radicella

PARAMETER IDENTIFICATION AND MODEL VALIDATION OF A MACROSCOPIC TRAFFIC MODEL...... 12835 Elvira Thonhofer, Martin Fuhrmann, Stefan Jakubek

TUNING THE HYPERPARAMETERS OF THE FILTER-BASED REGULARIZATION METHOD FOR IMPULSE RESPONSE ESTIMATION ...... 12841 Anna Marconato, Maarten Schoukens

IDENTIFICATION OF FORWARD AND FEEDBACK TRANSFER FUNCTIONS IN CLOSED-LOOP SYSTEMS WITH FEEDBACK DELAY...... 12847 Vittorio De Iuliis, Alfredo Germani, Costanzo Manes

CLOSED-LOOP CONTINUOUS-TIME MODEL IDENTIFICATION WITH NOISY INPUT-OUTPUT...... 12853 Stéphane Victor, Arnold Diudichi, Pierre Melchior

MODULATING FUNCTIONS-BASED FRACTIONAL ORDER DIFFERENTIATOR FOR FRACTIONAL ORDER LINEAR SYSTEMS WITH A BIASED OUTPUT*...... 12859 Xing Wei, Da-Yan Liu, Driss Boutat, Hao-Ran Liu, Ya-Qian Li

FOULING DETECTION IN A PARALLEL FLOW HEAT EXCHANGER VIA A ROESSER MODEL IDENTIFICATION PROCEDURE ...... 12866 D. C. Pham, G. Mercère, R. Ouvrard, T. Poinot, H. Pálsson

VERIFIED DIAGNOSIS OF SAFETY CRITICAL DYNAMIC SYSTEMS BASED ON KAUCHER INTERVAL ARITHMETIC ...... 12872 Stefan Schwab, Oliver Stark, Soeren Hohmann

FREQUENCY ESTIMATION OF A SINUSOIDAL SIGNAL WITH TIME-VARYING AMPLITUDE*...... 12880 Alexey A. Vedyakov, Anastasiia O. Vediakova, Alexey A. Bobtsov, Anton A. Pyrkin, Stanislav V. Aranovskiy

AN ONLINE MODELING METHOD FOR FORMATION DRILLABILITY BASED ON OS-NADABOOST- ELM ALGORITHM IN DEEP DRILLING PROCESS *...... 12886 Chao Gan, Weihua Cao, Min Wu, Xin Chen, Yule Hu, Guojun Wen, Hui Gao, Fulong Ning, Huafeng Ding

ALGORITHMS OF FAST ADAPTIVE COMPENSATION OF DISTURBANCE IN LINEAR SYSTEMS WITH ARBITRARY INPUT DELAY ...... 12892 Dmitry N. Gerasimov, Aleksei V. Paramonov, Vladimir O. Nikiforov

ALGEBRAIC PARAMETER ESTIMATION USING KERNEL REPRESENTATION OF LINEAR SYSTEMS*...... 12898 Debarshi Patanjali Ghoshal, Kumar Gopalakrishnan, Hannah Michalska

HYPERBOLIC GEOMETRICAL APPROACH TO MODEL REDUCTION ...... 12905 Alexandros Soumelidis, József Bokor, Ferenc Schipp, Zoltán Szabó

LAGUERRE BASED PREDICTORS IN DISCRETE-TIME RECURSIVE ALGORITHMS: A SOLUTION FOR OPEN-LOOP IDENTIFICATION UNDER OVERSAMPLING...... 12911 Bernard Vau, Henri Bourlès

UNCONSTRAINED NONLINEAR STATE ESTIMATION FOR TENNESSEE EASTMAN CHALLENGE PROCESS...... 12919 Krishna Kumar Kottakki, Mani Bhushan, Sharad Bhartiya

BEHAVIOR OF SOLUTIONS TO SYSTEMS WITH MAXIMUM ...... 12925 Sergey Dashkovskiy, Snezhana Hristova, Olga Kichmarenko, Kateryna Sapozhnikova

EDUCATION FOR CLEANER PRODUCTION IN INFORMATION AND COMMUNICATION TECHNOLOGIES CURRICULUM...... 12931 Alexandra Klimova, Eric Rondeau

ICT AND GREEN SUSTAINABILITY RESEARCH AND TEACHING ...... 12938 Colin Pattinson

DATA LIFECYCLE MANAGEMENT IN SMART BUILDING USING WIRELESS SENSORS NETWORKS ...... 12944 Kais Mekki, William Derigent, Eric Rondeau, André Thomas

REGENERATION MANAGEMENT TOOL FOR INDUSTRIAL ECOSYSTEM...... 12950 Laëtitia Diez, Pascale Marangé, Éric Levrat

GLOBAL EVALUATION OF WASTEWATER TREATMENT PLANTS CONTROL STRATEGIES INCLUDING CO2 EMISSIONS ...... 12956 Marian Barbu, Ramon Vilanova, Montse Meneses, Ignacio Santin

IS GREEN NETWORKING A NEW WORKLOAD FOR ICT ENGINEERS? A NETWORK TOPOLOGY EXAMPLE ...... 12962 Eric Rondeau, Jean-Philippe Georges, Md Mohaimenul Hossain, Khan Mohammad Habibullah

EXPLORING THE INFLUENCE OF SOCIAL SOFTWARE ON BUSINESS PROCESS MANAGEMENT...... 12968 W. Triaa, L. Gzara, H. Verjus

AUGMENTED REALITY IN WAREHOUSE OPERATIONS: OPPORTUNITIES AND BARRIERS...... 12979 Marie-Hélène Stoltz, Vaggelis Giannikas, Duncan McFarlane, James Strachan, Jumyung Um, Rengarajan Srinivasan

ASSESSMENT OF SUSTAINABILITY FOR PRODUCTION CONTROL BASED ON PETRI NET AND CYBER-PHYSICAL CLOUD SYSTEM...... 12985 Edson H. Watanabe, Robson M. Da Silva, Marcos S. G. Tsuzuki, Fabrício Junqueira, Diolino J. Dos Santos Filho, Paulo E. Miyagi

PROJECT-BASED LEARNING FOR COMPLEX ADAPTIVE ENTERPRISE SYSTEMS...... 12991 Georg Weichhart, Christian Stary

SPARSE OBSERVER-BASED SLIDING MODE CONTROL FOR NETWORKED CONTROL SYSTEMS...... 12997 Ahmadreza Argha, Li Li, Steven W. Su, Hung Nguyen

CONTROL-ORIENTED MODELING OF SKU-LEVEL DEMAND IN RETAIL FOOD MARKET ...... 13003 M. Mazzoleni, S. Formentin, F. Previdi, S. M. Savaresi

H∞ FILTERING FOR AN OPTICAL CAVITY SYSTEM DISTURBED BY LORENTZIAN QUANTUM NOISE* ...... 13009 S. Xue, Ian R. Petersen, Valery Ugrinovskii, Matthew R. James

STATE TOMOGRAPHY OF QUBIT SYSTEMS USING LINEAR REGRESSION ESTIMATION AND ADAPTIVE MEASUREMENTS *...... 13014 Daoyi Dong, Yuanlong Wang, Zhibo Hou, Bo Qi, Yu Pan, Guo-Yong Xiang

TOWARDS A MODEL-BASED FIELD-FREQUENCY LOCK FOR NMR ...... 13020 G. Galuppini, C. Toffanin, D. M. Raimondo, A. Provera, Y. Xia, R. Rolfi, G. Ferrante, L. Magni

STRUCTURE-PRESERVING ADIABATIC ELIMINATION FOR OPEN BIPARTITE QUANTUM SYSTEMS...... 13026 R. Azouit, F. Chittaro, A. Sarlette, P. Rouchon

GLOBAL STABILIZATION OF MIXED-STATES FOR STOCHASTIC QUANTUM SYSTEMS VIA SWITCHING CONTROL...... 13032 Shuang Cong, Jie Wen, Fangfang Meng, Kezhi Li

BURNING MAGNETO-HYDRODYNAMICS PLASMAS MODEL: A PORT-BASED MODELLING APPROACH...... 13038 Benjamin Vincent, Nicolas Hudon, Laurent Lefèvre, Denis Dochain

DIGITALIZATION OF WHITEBOARD FOR WORK TASK ALLOCATION TO SUPPORT INFORMATION SHARING BETWEEN OPERATORS AND SUPERVISOR ...... 13044 Dan Li, Åsa Fast-Berglund, Anna Dean, Lars Ruud

AN ENTERPRISE OPERATING SYSTEM FOR THE SENSING, SMART, AND SUSTAINABLE ENTERPRISE ...... 13052 D. Chavarria-Barrientos, D. Chen, R. Funes, A. Molina, F. Vernadat

A SENSOR ONTOLOGY ENABLING SERVICE IMPLEMENTATION IN INDUSTRIAL PRODUCT- SERVICE SYSTEMS...... 13059 Elaheh Maleki, Farouk Belkadi, Berend Jan Van Der Zwaag, Alain Bernard

INTEGRATED PRODUCT, PROCESS AND MANUFACTURING SYSTEM DEVELOPMENT REFERENCE MODEL TO DEVELOP CYBER-PHYSICAL PRODUCTION SYSTEMS - THE SENSING, SMART AND SUSTAINABLE MICROFACTORY CASE STUDY ...... 13065 J. Miranda, R. Pérez-Rodríguez, V. Borja, P. K. Wright, A. Molina

A MONITORING FRAMEWORK OF COLLABORATIVE SUPPLY CHAIN FOR AGILITY...... 13072 Zheng Jiang, Jacques Lamothe, Frederick Benaben

THE FILTER DESIGN TECHNIQUE FOR TREND CHANGE DETECTION OF RANDOM PROCESS IN REAL TIME ...... 13078 E. A. Grebenuk

GENETIC-BASED OPTIMIZATION OF TEMPERATURE SET-POINT SIGNALS FOR BUILDINGS WITH UNOCCUPIED ROOMS...... 13084 Domenico Gorni, Antonio Visioli

A NEW UAV SHIP-TRACKING ALGORITHM ...... 13090 Pablo Garcia-Aunon, Matilde Santos Peñas, Jesus Manuel De La Cruz García

HEURISTIC APPROACH TO UNRELATED PARALLEL MACHINES SCHEDULING UNDER AVAILABILITY AND RESOURCE CONSTRAINTS...... 13096 Tatiana V. Avdeenko, Yuriy A. Mezentsev, Igor V. Estraykh

FUZZY INFERENCE SYSTEM APPROACH USING CLUSTERING AND DIFFERENTIAL EVOLUTION OPTIMIZATION APPLIED TO IDENTIFICATION OF A TWIN ROTOR SYSTEM...... 13102 Leandro Dos Santos Coelho, Marcelo Wicthoff Pêssoa, Viviana Cocco Mariani, Gilberto Reynoso-Meza

MODELLING AND CONTROL OF A FLEXIBLE FLOATING BOOM: FIRST APPROACH ...... 13108 G. E. Gapingsi, R. Korbas, M. Santos

AN ADAPTIVE CONTROL STUDY FOR A DC MOTOR USING META-HEURISTIC ALGORITHMS...... 13114 Alejandro Rodríguez-Molina, Miguel Gabriel Villarreal-Cervantes, Mario Aldape-Pérez

FEEDBACK LINEARIZING CONTROL OF A GAS-LIQUID CYLINDRICAL CYCLONE...... 13121 Torstein Thode Kristoffersen, Christian Holden, Olav Egeland

INTEGRATED CONTROL OF MOTION AND CONTACTLESS POWER TRANSFER FOR DOUBLY-FED INDUCTION MACHINES IN COMPLEX ROTARY APPARATUSES...... 13129 Andrea Tilli, Alessandro Bosso, Christian Conficoni, Ahmad Hashemi

EVOLUTIONARY TUNING OF DC-DC FLYBACK CONVERTER ROBUST CONTROLLER ...... 13136 Philippe Feyel, Louis Grimaud

NONLINEAR CONTROL OF MULTI-ROTOR AERIAL VEHICLES BASED ON THE ZERO-MOMENT DIRECTION ...... 13144 Giulia Michieletto, Angelo Cenedese, Luca Zaccarian, Antonio Franchi

PASSIVITY-BASED FORMATION CONTROL FOR UAVS WITH A SUSPENDED LOAD ...... 13150 Chris Meissen, Kristian Klausen, Murat Arcak, Thor I. Fossen, Andrew Packard

ENERGY MANAGEMENT FOR BUILDING CLIMATE COMFORT IN UNCERTAIN SMART THERMAL GRIDS WITH AQUIFER THERMAL ENERGY STORAGE*...... 13156 Vahab Rostampour, Tamás Keviczky

LOW COMPLEXITY DISTRIBUTED MODEL PREDICTIVE CONTROL BY USING CONTRACTIVE SETS ...... 13164 Alexandra Grancharova, Sorin Olaru

BANDED NULL BASIS AND ADMM FOR EMBEDDED MPC* ...... 13170 Thuy V Dang, Keck Voon Ling, Jan Maciejowski

TOWARDS PARALLELIZABLE SAMPLING–BASED NONLINEAR MODEL PREDICTIVE CONTROL ...... 13176 R. V. Bobiti, M. Lazar

A NOVEL APPROACH FOR SOLVING CONVEX PROBLEMS WITH CARDINALITY CONSTRAINTS* ...... 13182 Goran Banjac, Paul J. Goulart

A HOMOTOPY-BASED NONLINEAR INTERIOR-POINT METHOD FOR NMPC...... 13188 Andrea Zanelli, Rien Quirynen, Juan Jerez, Moritz Diehl

EMBEDDED OPTIMIZATION METHODS FOR INDUSTRIAL AUTOMATIC CONTROL* ...... 13194 H. J. Ferreau, S. Almér, R. Verschueren, M. Diehl, D. Frick, A. Domahidi, J. L. Jerez, G. Stathopoulos, C. Jones

DISTRIBUTED CONTROL OF WIRELESS POWER TRANSFER SUBJECT TO SAFETY CONSTRAINTS ...... 13210 Kasim Sinan Yildirim, Ruggero Carli, Luca Schenato

LEARNING COMMUNICATION DELAY PATTERNS FOR REMOTELY CONTROLLED UAV NETWORKS*...... 13216 Jaehyun Yoo, Karl H. Johansson

EXPONENTIAL STABILITY OF LMS-BASED DISTRIBUTED ADAPTIVE FILTERS* ...... 13222 Siyu Xie, Lei Guo

A FIRST-ORDER PREDICTION-CORRECTION ALGORITHM FOR TIME-VARYING (CONSTRAINED) OPTIMIZATION ...... 13228 Andrea Simonetto, Emiliano Dall’Anese

DISTRIBUTED KALMAN FILTERING FOR TIME-SPACE GAUSSIAN PROCESSES* ...... 13234 M. Todescato, A. Dalla Libera, R. Carli, G. Pillonetto, L. Schenato

A DISTRIBUTED VOLTAGE STABILITY MARGIN FOR POWER DISTRIBUTION NETWORKS...... 13240 Liviu Aolaritei, Saverio Bolognani, Florian Dörfler

STATE ESTIMATION OF A TETHERED AIRFOIL FOR MONITORING, CONTROL AND OPTIMIZATION*...... 13246 Eduardo Schmidt, Marcelo De Lellis, Ramiro Saraiva, Alexandre Trofino

WARPING NMPC FOR ONLINE GENERATION AND TRACKING OF OPTIMAL TRAJECTORIES*...... 13252 Jesus Lago, Michael Erhard, Moritz Diehl

CONSTRAINT ENFORCEMENT FOR A LIGHTER-THAN-AIR WIND-ENERGY SYSTEM: AN APPLICATION OF REFERENCE GOVERNORS WITH CHANCE CONSTRAINTS ...... 13258 Uroš Kalabic, Christopher Vermillion, Ilya Kolmanovsky

TOWARDS ROBUST SENSOR FUSION FOR STATE ESTIMATION IN AIRBORNE APPLICATIONS USING GNSS AND IMU*...... 13264 Fabian Girrbach, Jeroen D. Hol, Giovanni Bellusci, Moritz Diehl

MODEL PREDICTIVE PATH-FOLLOWING CONTROL FOR AIRBORNE WIND ENERGY SYSTEMS*...... 13270 Sanket Diwale, Timm Faulwasser, Colin N. Jones

PREDICTIVE GUIDANCE CONTROL FOR AUTONOMOUS KITES WITH INPUT DELAY*...... 13276 Tony A. Wood, Eva Ahbe, Henrik Hesse, Roy S. Smith

STABILITY OF LINEAR FRACTIONAL DIFFERENTIAL EQUATIONS WITH DELAYS: A COUPLED PARABOLIC-HYPERBOLIC PDES FORMULATION.* ...... 13282 F. Monteghetti, G. Haine, D. Matignon

STABILITY OF SAMPLED-DATA PDE-ODE SYSTEMS AND APPLICATION TO OBSERVER DESIGN AND OUTPUT-FEEDBACK STABILIZATION ...... 13289 Iasson Karafyllis, Tarek Ahmed-Ali, Fouad Giri, Miroslav Krstic, Françoise Lamnabhi-Lagarrigue

SIMPLE CONDITIONS FOR SAMPLED-DATA STABILIZATION BY USING ARTIFICIAL DELAY...... 13295 Anton Selivanov, Emilia Fridman

INPUT-OUTPUT LINEARIZATION OF SISO NONLINEAR TIME-VARYING DELAY SYSTEMS ...... 13300 Ihab Haidar, Florentina Nicolau, Jean-Pierre Barbot, Woihida Aggoune

OPTIMAL CONTROL OF LINEAR TRANSPORT SYSTEMS WITH DISTRIBUTED CONTROL INPUT ...... 13306 Stefan Schaut, Simon Alt, Kevin Schmidt, Oliver Sawodny

ANALYSIS OF BLOOD CELL PRODUCTION UNDER GROWTH FACTORS SWITCHING * ...... 13312 W. Djema, H. Özbay, C. Bonnet, E. Fridman, F. Mazenc, J. Clairambault

FURTHER RESULTS ON THE STRONG STABILITY OF DIFFERENCE EQUATIONS OF CONTINUOUS TIME*...... 13318 Qian Ma, Keqin Gu, Narges Choubedar

INPUT SHAPER OPTIMIZATION WITH A CONSTRAINT ON THE SPECTRUM DISTRIBUTION*...... 13324 Vyacheslav Kungurtsev, Dan Pilbauer, Tomáš Vyhlídal, Martin Hromcík, Wim Michiels

STABILITY ANALYSIS OF CONTROL SYSTEMS SUBJECT TO DELAY-DIFFERENCE FEEDBACK...... 13330 Chi Jin, Silviu-Ilian Niculescu, Islam Boussada, Keqin Gu

NEUTRAL FUNCTIONAL DIFFERENTIAL EQUATIONS AND SYSTEMS OF CONSERVATION LAWS...... 13336 Daniela Danciu, Vladimir Rasvan

NUMERICAL COMPUTATION OF LYAPUNOV MATRICES FOR INTEGRAL DELAY SYSTEMS ...... 13342 Héctor Arismendi-Valle, Daniel Melchor-Aguilar

CONTROL OF DIFFERENTIALLY FLAT LINEAR DELAY SYSTEMS WITH CONSTRAINTS ...... 13348 Maria Bekcheva, Hugues Mounier, Luca Greco

ACTIVE VIBRATION CONTROL BASED ON STATIC ANTI-WINDUP COMPENSATOR AND UNKNOWN INPUT OBSERVATION...... 13354 A. Oveisi, T. Nestorovic

ADAPTIVE CONTROL OF DRILLSTRING TORSIONAL OSCILLATIONS ...... 13360 Jacek Kabzinski

ADVANCED COMPUTATIONAL DESIGN OF SHARED TUNED MASS-INERTER DAMPERS FOR VIBRATION CONTROL OF ADJACENT MULTI-STORY STRUCTURES*...... 13366 F. Palacios-Quiñonero, J. Rubió-Massegú, J. M. Rossell, H. R. Karimi

PART 21

USING INERTER-BASED ISOLATOR FOR PASSIVE VIBRATION CONTROL OF MICHELANGELO’S RONDANINI PIETÀ ...... 13372 A. Siami, A. Cigada, H. R. Karimi, E. Zappa, E. Sabbioni

AUTONOMOUS BEARING FAULT DIAGNOSIS METHOD BASED ON ENVELOPE SPECTRUM ...... 13378 Andreas Klausen, Kjell G. Robbersmyr, Hamid R. Karimi

H∞ FEEDBACK AND FEEDFORWARD CONTROLLER DESIGN FOR ACTIVE VIBRATION ISOLATORS...... 13384 M. A. Beijen, M. F. Heertjes, H. Butler, M. Steinbuch

OBSERVER-BASED ITERATIVE LEARNING CONTROL DESIGN IN THE REPETITIVE PROCESS SETTING* ...... 13390 Wojciech Paszke, Eric Rogers, Krzysztof Patan

GENERALIZED NORM OPTIMAL ITERATIVE LEARNING CONTROL: CONSTRAINT HANDLING ...... 13396 Yiyang Chen, Bing Chu, Christopher T. Freeman

NEURAL NETWORKS IN DESIGN OF ITERATIVE LEARNING CONTROL FOR NONLINEAR SYSTEMS*...... 13402 Krzysztof Patan, Maciej Patan, Damian Kowalów

DIFFERENT ARCHITECTURES TO DEVELOP REPETITIVE CONTROLLERS...... 13408 Víctor Sanz I López, Ramon Costa-Castelló, German A. Ramos

HYBRID CONTINUOUS-DISCRETE REPETITIVE PROCESS MODELING OF MENISCUS DYNAMICS IN ELECTROHYDRODYNAMIC JET PRINTING ...... 13414 Mamadou Diagne, Patrick M. Sammons, David Hoelzle, Kira L. Barton

ITERATIVE LEARNING CONTROL FOR COUPLED TEMPERATURE AND HUMIDITY IN BUILDINGS ...... 13420 Matt Minakais, Charles C. Okaeme, Sandipan Mishra, John T. Wen

FEEDFORWARD AND STATE-FEEDBACK CONTROL OF DETERMINISTIC I/O AUTOMATA ...... 13426 M. Zgorzelski, J. Lunze

CONVERSION OF 1-PLACE-UNBOUNDED SYNCHRONIZED PETRI NETS INTO WEIGHTED AUTOMATA ...... 13434 Changshun Wu, Isabel Demongodin, Alessandro Giua

LANGUAGE EQUATIONS FOR MAXIMAL DECOMPOSITIONS IN COORDINATION CONTROL ...... 13441 Jan Komenda, Feng Lin, Jan H. Van Schuppen

INFERENCING AND BEYOND: FURTHER ADVENTURES WITH PARITY-BASED ARCHITECTURES FOR DECENTRALIZED DISCRETE-EVENT SYSTEMS ...... 13447 S. L. Ricker, T. F. Lidbetter, H. Marchand

MODEL DECOMPOSITION OF WEIGHT-BALANCED TIMED EVENT GRAPHS IN DIOIDS: APPLICATION TO CONTROL SYNTHESIS ...... 13453 J. Trunk, B. Cottenceau, L. Hardouin, J. Raisch

ANALYSIS OF CYCLE TIME IN INTERVAL P-TIME EVENT GRAPHS IN DIOID ALGEBRAS ...... 13461 Pavel Špacek, Jan Komenda

TEAM PUBLIC TESTING IN CLASSROOM STUDIES ON AUTOMATIC CONTROL THEORY...... 13468 N. A. Pakshina, M. V. Pravdina, A. S. Koposov, P. V. Pakshin

CONDUCTING ONLINE LAB EXPERIMENTS WITH BLOCKLY...... 13474 Daniel Galan, Ruben Heradio, Luis De La Torre, Sebastian Dormido, Francisco Esquembre

A NEW LOOK AT WATER TANKS SYSTEMS AS CONTROL TEACHING TOOLS* ...... 13480 Robert Bieda, Marian Blachuta, Rafal Grygiel

LAB OF THINGS: A NETWORK-BASED I/O SERVICES FOR LABORATORY EXPERIMENTATION...... 13486 Martin Kalúz, Luboš Cirka, Richard Valo, Miroslav Fikar

ONLINE LABORATORY MANAGER FOR REMOTE EXPERIMENTS IN CONTROL ...... 13492 Matej Rábek, Katarína Žáková

MODERN CONTROL SYSTEMS VIA VIRTUAL AND REMOTE LABORATORY BASED ON MATLAB...... 13498 P. Bisták, M. Halás, M. Huba

OPTIMAL DISCRETE TIME CONTROL OF ANTIANGIOGENIC TUMOR THERAPY * ...... 13504 Dániel András Drexler, Johanna Sápi, Levente Kovács

GAIT ANALYSIS USING OPTIMALITY CRITERIA IMPUTED FROM HUMAN DATA...... 13510 Adina M. Panchea, Sylvain Miossec, Olivier Buttelli, Philippe Fraisse, Angele Van Hamme, Marie-Laure Welter, Nacim Ramdani

IDENTIFICATION OF DYNAMICAL SYSTEMS POPULATION DESCRIBED BY A MIXED EFFECT ARX MODEL STRUCTURE ...... 13516 Levy Batista, El Hadi Djermoune, Thierry Bastogne

A STOCHASTIC FEEDBACK MODEL TO SIMULATE SACCADIC EYE MOVEMENT VARIABILITY* ...... 13521 V Varsha, Radhakant Padhi, Aditya Murthy

EFFECTIVE CONTROL OF GLYCEMIA USING A SIMPLE DISCRETE-DELAY MODEL...... 13526 Claudio Gaz, Andrea De Gaetano, Costanzo Manes, Pasquale Palumbo, Alessandro Borri, Simona Panunzi

STATE ESTIMATION UNDER CORRELATED PARTIAL MEASUREMENT LOSSES: IMPLICATIONS FOR WEIGHT CONTROL INTERVENTIONS*...... 13532 Penghong Guo, Daniel E. Rivera, Jennifer S. Savage, Danielle S. Downs

BOND GRAPH FOR ONLINE ROBUST DIAGNOSIS APPLICATION: HYDRAULIC SYSTEM ...... 13538 Ibrahim Abdallah, Anne-Lise Gehin, Belkacem Ould Bouamama

A DATA-DRIVEN APPROACH FOR ACTUATOR SERVO LOOP FAILURE DETECTION ...... 13544 S. Urbano, E. Chaumette, P. Goupil, J-Y. Tourneret

COMPARISON OF LEAKAGE ESTIMATION STRATEGIES IN A REAL INDUSTRIAL PIPE NETWORK*...... 13550 E. Sales-Setién, D. Tena, I. Peñarrocha

ACTUATOR FAULT COMPENSATION IN THREE LINKED 2WD MOBILE ROBOTS USING MULTIPLE DYNAMIC CONTROLLERS ...... 13556 Ayad Al-Dujaili, Yajie Ma, Maan El Badaoui El Najjar, Vincent Cocquempot

FAULT-TOLERANT CONTROL FOR PHYSICALLY LINKED TWO 2WD MOBILE ROBOTS WITH ACTUATOR FAULTS* ...... 13563 Yajie Ma, Vincent Cocquempot, Maan El Badaoui El Najjar, Andrey Polyakov, Gang Zheng

HARMONIC FAULT DIAGNOSIS IN POWER QUALITY SYSTEM USING HARMONIC WAVELET...... 13569 Mojtaba Kordestani, Ali Akbar Safavi, Mehrdad Saif

IMPROVING AUCTION MECHANISMS FOR ONLINE REAL-TIME BIDDING ADVERTISING WITH A TWO-STAGE RESALE MODEL*...... 13575 Rui Qin, Yong Yuan, Fei-Yue Wang

RESEARCH ON SOCIAL MARKETING STRATEGIES WITH AN AGENT-BASED PROPAGATION MODEL...... 13581 Shuai Zeng, Juanjuan Li, Xiaochun Ni, Yong Yuan, Fei-Yue Wang

RESEARCH ON INFORMATION STRUCTURE OF PROGRAMMATIC ADVERTISING MARKETS ...... 13587 Juanjuan Li, Yong Yuan, Xueliang Zhao, Fei-Yue Wang

TOPIC ANALYSIS IN NEWS VIA SPARSE LEARNING: A CASE STUDY ON THE 2016 US PRESIDENTIAL ELECTIONS...... 13593 Giuseppe C. Calafiore, Laurent El Ghaoui, Alessandro Preziosi, Luigi Russo

THE COUNTRIES’ RELATION FORMATION PROBLEM: I AND II ...... 13599 Yuke Li, A. Stephen Morse

CASH-SETTLED OPTIONS FOR WHOLESALE ELECTRICITY MARKETS ...... 13605 Khaled Alshehri, Subhonmesh Bose, Tamer Basar

CONTROL OF DISTRICT HEATING SYSTEM WITH FLOW-DEPENDENT DELAYS...... 13612 Jan Bendtsen, Jorge Val, Carsten Kallesøe, Miroslav Krstic

POLYNOMIAL TIME VERIFICATION OF MODULAR DIAGNOSABILITY OF DISCRETE EVENT SYSTEMS...... 13618 Ben Li, João Carlos Basilio, Manel Khlif-Bouassida, Armand Toguyéni

DECENTRALIZED FAULT DIAGNOSIS BY PETRI NETS AND INTEGER LINEAR PROGRAMMING ...... 13624 Xuya Cong, Maria Pia Fanti, Agostino Marcello Mangini, Zhiwu Li

DIAGNOSABILITY AND ONLINE DIAGNOSIS OF DISCRETE-EVENT SYSTEMS MODELED BY ACYCLIC LABELED PETRI NETS ...... 13630 Pedro R. R. Paiva, Lilian Kawakami Carvalho, João Carlos Basilio

AN INCREMENTAL MODEL REPAIR APPROACH TO TIMED DISCRETE EVENT SYSTEMS ...... 13636 F. Basile, P. Chiacchio, J. Coppola

THE CONTROLLABILITY PREFIX FOR SUPERVISORY CONTROL UNDER PARTIAL OBSERVATION WITH AN APPLICATION TO FAULT-TOLERANT CONTROL...... 13642 Thomas Moor, Klaus Werner Schmidt

ACTIVE FAULT-TOLERANT CONTROL OF TIMED AUTOMATA WITH GUARDS...... 13648 Julien Niguez, Saïd Amari, Jean-Marc Faure

OBSERVER BASED PATH FOLLOWING FOR UNDERACTUATED MARINE VESSELS IN THE PRESENCE OF OCEAN CURRENTS: A LOCAL APPROACH ...... 13654 M. Maghenem, D. J. W. Belleter, C. Paliotta, K. Y. Pettersen

COLREGS-COMPLIANT PATH PLANNING FOR AUTONOMOUS SURFACE VEHICLES: A MULTIOBJECTIVE OPTIMIZATION APPROACH* ...... 13662 Liang Hu, Wasif Naeem, Eshan Rajabally, Graham Watson, Terry Mills, Zakirul Bhuiyan, Ivor Salter

SEA CURRENTS ESTIMATION DURING AUV NAVIGATION USING UNSCENTED KALMAN FILTER...... 13668 Benedetto Allotta, Riccardo Costanzi, Francesco Fanelli, Niccolò Monni, Libero Paolucci, Alessandro Ridolfi

BEARING-ONLY AUV TRACKING PERFORMANCE: UNSCENTED KALMAN FILTER ESTIMATION AGAINST UNCERTAINTY IN UNDERWATER NODES POSITION ...... 13674 Riccardo Costanzi, Davide Fenucci, Vincenzo Manzari, Andrea Caiti

AN EVALUATION OF DEEP WATER NAVIGATION SYSTEMS FOR AUTONOMOUS UNDERWATER VEHICLES *...... 13680 Riccardo Costanzi, Davide Fenucci, Simone Giagnoni, Andrea Munafò, Andrea Caiti

MODELING AND CONTROL OF INDUSTRIAL ROV’S FOR SEMI-AUTONOMOUS SUBSEA MAINTENANCE SERVICES ...... 13686 Christian Mai, Simon Pedersen, Leif Hansen, Kasper Jepsen, Zhenyu Yang

SUSTAINABLE MAINTENANCE: A PERIODIC PREVENTIVE MAINTENANCE MODEL WITH SUSTAINABLE SPARE PARTS MANAGEMENT...... 13692 Chiara Franciosi, Alfredo Lambiase, Salvatore Miranda

OPTIMAL HYBRID IMPERFECT PREVENTIVE MAINTENANCE POLICY FOR LEASED EQUIPMENT...... 13698 A. Ben Mabrouk, A. Chelbi, M. Radhoui

INDUSTRIAL SYSTEM FUNCTIONING/DYSFUNCTIONING-BASED APPROACH FOR INDICATOR IDENTIFICATION TO SUPPORT PROACTIVE MAINTENANCE...... 13704 T. Laloix, A. Voisin, S. Deeb, E. Romagne, B. Iung, F. Lorange

STUDY OF DYNAMIC WORKLOAD ASSIGNMENT STRATEGIES ON PRODUCTION PERFORMANCE*...... 13710 H. Li, A. K. Parlikad

A STUDY OF ONLINE INSPECTION FOR MULTI-LEVEL PROGNOSTICS ...... 13716 D. Zhang, C. Cadet, N. Yousfi-Steiner, C. Bérenguer

A DYNAMIC MAINTENANCE DECISION APPROACH BASED ON MAINTENANCE ACTION GROUPING FOR HVAC MAINTENANCE COSTS SAVINGS IN NON-RESIDENTIAL BUILDINGS ...... 13722 C. Nzukam, A. Voisin, E. Levrat, D. Sauter, B. Iung

MODEL REDUCTION AND IDENTIFICATION OF NONLINEAR REACTIVE SPUTTER PROCESSES ...... 13728 Christian Woelfel, Peter Awakowicz, Jan Lunze

GAS PHASE TRAIN IN UPSTREAM OIL & GAS FIELDS: PART-III CONTROL SYSTEM DESIGN...... 13735 Y. H. Al-Naumani, J. A. Rossiter

PASSIVITY-BASED BACKSTEPPING CONTROL OF A SEMI-BATCH REACTOR *...... 13741 Zixi Zhao, Tim Capparella, Jeff Ferrio, John M. Wassick, B. Erik Ydstie

CONTROL OF THE STATE-OF-CHARGE OF A LI-ION BATTERY CELL VIA REFERENCE GOVERNOR* ...... 13747 Raffaele Romagnoli, Luis D. Couto, Michel Kinnaert, Emanuele Garone

REINFORCEMENT LEARNING CONTROL OF TRANSCRITICAL CARBON DIOXIDE SUPERMARKET REFRIGERATION SYSTEMS...... 13754 Alessandro Beghi, Mirco Rampazzo, Stefano Zorzi

MODEL-BASED OPTIMAL EXPERIMENT DESIGN FOR NONLINEAR PARAMETER ESTIMATION USING EXACT CONFIDENCE REGIONS*...... 13760 Anwesh Reddy Gottu Mukkula, Radoslav Paulen

MODELING AND CONTROL OF THE OXYGEN CONCENTRATION IN A POST COMBUSTION CHAMBER OF A GAS-FIRED FURNACE*...... 13766 Stephan Strommer, Christoph Froehlich, Martin Niederer, Andreas Steinboeck, Andreas Kugi

EXTREMUM SEEKING CONTROL OF CARBON MONOXIDE CONCENTRATION IN UNDERGROUND COAL GASIFICATION...... 13772 K. Kostúr, J. Kacur

OPTIMIZATION ORIENTED PERFORMANCE ASSESSMENT FOR COMBUSTION PROCESS OF COKE OVEN*...... 13778 Qi Lei, Min Wu, Guoping Liu

MASS-BALANCE BASED MULTIVARIATE MODELLING OF BASIC OXYGEN FURNACE USED IN STEEL INDUSTRY ...... 13784 Jari Ruuska, Aki Sorsa, Jarmo Lilja, Kauko Leiviskä

FEEDFORWARD CONTROL OF THE TEMPERATURE FIELD IN AN EXPERIMENTAL ANNEALING FURNACE...... 13790 L. Jadachowski, A. Steinboeck, A. Kugi

RELATION MODEL OF BURDEN OPERATION AND STATE VARIABLES OF BLAST FURNACE BASED ON LOW FREQUENCY FEATURE EXTRACTION* ...... 13796 Kexin Zhang, Min Wu, Jianqi An, Weihua Cao, Zhentao Liu, Fulong Ning

MULTI OBJECTIVE H∞ ACTIVE ANTI-ROLL BAR CONTROL FOR HEAVY VEHICLES...... 13802 Van-Tan Vu, Olivier Sename, Luc Dugard, Peter Gaspar

ON THE EFFECTIVE USE OF VEHICLE SENSORS FOR AUTOMATIC LANE KEEPING VIA LPV STATIC OUTPUT FEEDBACK CONTROL...... 13808 Anh-Tu Nguyen, Philippe Chevrel, Fabien Claveau

CRONE CONTROL OF A PNEUMATIC SELF-LEVELING SUSPENSION SYSTEM ...... 13816 Jean-Louis Bouvin, Xavier Moreau, André Benine-Neto, Alain Oustaloup, Pascal Serrier, Vincent Hernette

DYNAMIC STABILITY CONTROL SYSTEM: THE CRONE APPROACH...... 13822 Nolwenn Monot, Xavier Moreau, André Benine-Neto, Audrey Rizzo, François Aioun

YAW MOMENT LYAPUNOV BASED CONTROL FOR IN-WHEEL-MOTOR-DRIVE ELECTRIC VEHICLE*...... 13828 H. Laghmara, M. Doumiati, R. Talj, A. Charara

A NEW SCHEME FOR HAPTIC SHARED LATERAL CONTROL IN HIGHWAY DRIVING USING TRAJECTORY PLANNING ...... 13834 Mohamed Amir Benloucif, Anh-Tu Nguyen, Chouki Sentouh, Jean-Christophe Popieul

EVALUATION OF OCCUPANCY GRID RESOLUTION THROUGH A NOVEL APPROACH FOR INVERSE SENSOR MODELING ...... 13841 Roxana Dia, Julien Mottin, Tiana Rakotovao, Diego Puschini, Suzanne Lesecq

OBSERVER-BASED FAULT DIAGNOSIS FOR TRUCKS BELT TENSIONER ...... 13848 Donatien Dubuc, Olivier Sename, Delphine Bresch-Pietri, Christophe Gauthier

REAL-TIME PERFORMANCE AND SAFETY VALIDATION OF AN INTEGRATED VEHICLE DYNAMIC CONTROL STRATEGY...... 13854 Arya Senna Abdul Rachman, Adem Ferad Idriz, Shiqian Li, Simone Baldi

DRIVER INTENTION-BASED VEHICLE THREAT ASSESSMENT USING RANDOM FORESTS AND PARTICLE FILTERING...... 13860 Kazuhide Okamoto, Karl Berntorp, Stefano Di Cairano

DRIVING STYLE MODELLING FOR ECO-DRIVING APPLICATIONS ...... 13866 S. Javanmardi, E. Bideaux, J. F. Trégouët, R. Trigui, H. Tattegrain, E. Nicouleau Bourles

ANALYTICAL SOLUTION FOR ENERGY MANAGEMENT OF PARALLEL HYBRID ELECTRIC VEHICLES...... 13872 S. Hadj-Said, G. Colin, A. Ketfi-Cherif, Y. Chamaillard

MODELING AND CONTROL OF A MAGNUS EFFECT-BASED AIRBORNE WIND ENERGY SYSTEM IN CROSSWIND MANEUVERS ...... 13878 Yashank Gupta, Jonathan Dumon, Ahmad Hably

PROCESS MONITORING USING PROBABILISTIC GRAPHICAL MODELS VIA NONPARAMETRIC DENSITY ESTIMATION* ...... 13886 Jiusun Zeng, Shihua Luo, Jinhui Cai, Lei Xie, Uwe Kruger, Weili Xiong

A MULTI-INDEX CONTROL PERFORMANCE ASSESSMENT METHOD BASED ON HISTORICAL PREDICTION ERROR COVARIANCE ...... 13892 Linyuan Shang, Xuemin Tian, Lianfang Cai

ROOT CAUSE DIAGNOSIS OF OSCILLATION-TYPE PLANT FAULTS USING NONLINEAR CAUSALITY ANALYSIS...... 13898 Han-Sheng Chen, Chunhui Zhao, Zhengbing Yan, Yuan Yao

ENERGY EFFICIENCY MONITORING IN A COAL BOILER BASED ON OPTICAL VARIABLES AND ARTIFICIAL INTELLIGENCE...... 13904 Hugo O. Garcés, José Abreu, Pedro Gómez, Claudia Carrasco, Luis Arias, Alejandro J. Rojas, Andrés Fuentes

FAULT DIAGNOSIS METHOD BASED ON COMPREHENSIVE ANALYSIS OF FAULT CHARACTERISTICS OF BIASED LOCATION AND DATA VARIATIONS ...... 13910 Yue Wang, Chunhui Zhao

DATA-DRIVEN DESIGN OF FEEDBACK-FEEDFORWARD CONTROL SYSTEMS FOR DYNAMIC PROCESSES...... 13916 Changsheng Hua, Yuri A. W. Shardt, Steven X. Ding, Yalin Wang

VOLTAGE AND FREQUENCY CONTROL IN AC ISLANDED MICROGRIDS: A SCALABLE, LINE- INDEPENDENT DESIGN ALGORITHM ...... 13922 Michele Tucci, Giancarlo Ferrari-Trecate

PERFORMANCE MONITORING VIA DISTURBANCE CHARACTERIZATION IN REFINERY CONTROL LOOPS...... 13928 Gizem Kusoglu, Mehmet Yagci

DESIGN OF A PERFORMANCE-DRIVEN CONTROLLER WITH 1-PARAMETER TUNING ...... 13934 Takuya Kinoshita, Akinori Inoue, Yoshihiro Ohnishi, Toru Yamamoto, Sirish L. Shah

CAUSE AND EFFECT ANALYSIS FOR DECISION SUPPORT IN ALARM FLOODS*...... 13940 Wenkai Hu, Tongwen Chen, Sirish L. Shah, Martin Hollender

DESIGN OF AN IMPLICIT SELF-TUNING PID CONTROLLER BASED ON THE GENERALIZED OUTPUT...... 13946 Yoichiro Ashida, Shin Wakitani, Toru Yamamoto

IDENTIFYING BOTTLENECKS IN SERIAL PRODUCTION LINES WITH GEOMETRIC MACHINES: INDICATORS AND RULES ...... 13952 Yunyi Kang, Feng Ju

PRELIMINARY COGNITIVE MODEL OF A SEMI-MECHANIZED PICKING OPERATION ...... 13958 Martha Caro, Leonardo Quintana, Juan Castillo

A MILP MODEL FOR AN INTEGRATED PROJECT SCHEDULING AND MULTI-SKILLED WORKFORCE ALLOCATION WITH FLEXIBLE WORKING HOURS...... 13964 Ahmed Karam, El-Awady Attia, Philippe Duquenne

CONSIDERING THE SYSTEMS ENGINEERING LEADING INDICATORS TO IMPROVE PROJECT PERFORMANCE MEASUREMENT ...... 13970 Li Zheng, Claude Baron, Philippe Esteban, Rui Xue, Qiang Zhang

ORCHESTRATION OF PREVENTIVE MAINTENANCE INTERVENTIONS ...... 13976 Luca Fumagalli, Marco Macchi, Alice Giacomin

PROCUREMENT PLANNING WITH BATCH ORDERING UNDER PERIODIC BUYBACK CONTRACT...... 13982 Mlouka Farhat, Ayse Akbalik, Nathalie Sauer, Atidel Hadj-Alouane

A HOME HEALTH CARE ROUTING PROBLEM WITH STOCHASTIC TRAVEL AND SERVICE TIME *...... 13987 Yong Shi, Toufik Boudouh, Olivier Grunder

DESIGN OF JOB ROTATION SCHEDULES MANAGING THE EXPOSURE TO AGE-RELATED RISK FACTORS ...... 13993 Lucia Botti, Cristina Mora, Martina Calzavara

SHOOTING METHODS FOR PARAMETER ESTIMATION OF OUTPUT ERROR MODELS* ...... 13998 Antônio H. Ribeiro, Luis A. Aguirre

A UNIFICATION METHOD OF LOCALLY IDENTIFIED LINEAR SYSTEMS AND RECONSTRUCTION OF NONLINEAR DYNAMICAL MODEL*...... 14004 Kazuya Nomura, Yuh Yamashita, Koichi Kobayashi

ROBUST SPARSE APPROXIMATIONS FOR STOCHASTIC DYNAMICAL SYSTEMS ...... 14010 Christopher J. Quinn, Ali Pinar, Jing Gao, Lu Su

EXTENSION OF FIRST-ORDER STABLE SPLINE KERNEL TO ENCODE RELATIVE DEGREE* ...... 14016 Yusuke Fujimoto, Ichiro Maruta, Toshiharu Sugie

APPROXIMATIONS OF FRACTIONAL DIFFERENTIAL EQUATIONS AND APPROXIMATE SYMMETRIES...... 14022 Rafail K. Gazizov, Stanislav Yu. Lukashchuk

KOOPMAN-OPERATOR OBSERVER-BASED ESTIMATION OF PEDESTRIAN CROWD FLOWS ...... 14028 Mouhacine Benosman, Hassan Mansour, Vahan Huroyan

GAUSSIAN PROCESSES-BASED PARAMETRIC IDENTIFICATION FOR DYNAMICAL SYSTEMS...... 14034 Mouhacine Benosman, Amir-Massoud Farahmand

PART 22

PARALLEL HAMMERSTEIN MODELS IDENTIFICATION USING SINE SWEEPS AND THE WELCH METHOD ...... 14040 Vincent Roggerone, Marc Rébillat, Étienne Corteel

IMPULSE RESPONSE CONSTRAINED LS-SVM MODELING FOR HAMMERSTEIN SYSTEM IDENTIFICATION*...... 14046 Ricardo Castro-Garcia, Oscar Mauricio Agudelo, Johan A. K. Suykens

ON CONVERGENCE ANALYSIS OF AN IDENTIFICATION ALGORITHM FOR HAMMERSTEIN-WIENER SYSTEMS WITH UNKNOWN TIME-DELAY...... 14052 Asma Atitallah, Saïda Bedoui, Kamel Abderrahim

SIMULATED PSEUDO MAXIMUM LIKELIHOOD IDENTIFICATION OF NONLINEAR MODELS...... 14058 Mohamed Rasheed Abdalmoaty, Håkan Hjalmarsson

RESIDUAL CHANGE DETECTION USING LOW-COMPLEXITY SEQUENTIAL QUANTILE ESTIMATION* ...... 14064 Daniel Jung, Erik Frisk, Mattias Krysander

SEQUENTIAL PHASE DIVISION BY CONSTRUCTING PSEUDO TIME-SLICE FOR NONLINEAR MULTIPHASE BATCH PROCESS MONITORING WITH UNEVEN LENGTHS ...... 14070 Shumei Zhang, Chunhui Zhao

AN ASYMMETRIC-FRICTION BASED MODEL FOR MAGNETORHEOLOGICAL DAMPERS*...... 14076 I. García-Baños, F. Ikhouane, N. Aguirre-Carvajal

MODEL ORDER SELECTION IN ERRORS-IN-VARIABLES SYSTEM IDENTIFICATION*...... 14082 Xin Liu, Yucai Zhu, Zuhua Xu

A METHOD FOR IDENTIFICATION OF MARKOVIAN JUMP ARX PROCESSES ...... 14088 Sarah Hojjatinia, Constantino M. Lagoa, Fabrizio Dabbene

IDENTIFICATION OF WIENER MODELS IN THE PRESENCE OF STRUCTURAL DISTURBANCES ...... 14094 Amir H. Shirdel, Jari M. Böling, Hannu T. Toivonen

PARAMETER ESTIMATIONS OF HESTON MODEL BASED ON CONSISTENT EXTENDED KALMAN FILTER ...... 14100 Ximei Wang, Xingkang He, Yanlong Zhao, Zhiqiang Zuo

HIGH-DIMENSIONAL ONLINE ADAPTIVE FILTERING*...... 14106 Sholeh Yasini, Kristiaan Pelckmans

RECURSIVE OUTPUT ERROR IDENTIFICATION ALGORITHM FOR SWITCHED LINEAR SYSTEMS WITH BOUNDED NOISE ...... 14112 Abdelhak Goudjil, Mathieu Pouliquen, Eric Pigeon, Olivier Gehan, Boubekeur Targui

A SCHUR COMPLEMENT METHOD FOR OPTIMUM EXPERIMENTAL DESIGN IN THE PRESENCE OF PROCESS NOISE ...... 14118 Adrian Bürger, Dimitris Kouzoupis, Angelika Altmann-Dieses, Moritz Diehl

HOW WE SPEND OUR TIME ONLINE: PREDICTING NETWORK TRAFFIC USING SYSTEM IDENTIFICATION...... 14125 Yusuf Bhujwalla, Quentin Grandemange, Marion Gilson, Vincent Laurain, Eric Gnaedinger

KRONECKER-ARX MODELS IN IDENTIFYING (2D) SPATIAL-TEMPORAL SYSTEMS *...... 14131 B. Sinquin, M. Verhaegen

TOWARDS THE SHORT-TERM FORECASTING OF DIRECT NORMAL IRRADIANCE USING A SKY IMAGER ...... 14137 Julien Nou, Rémi Chauvin, Julien Eynard, Stéphane Thil, Stéphane Grieu

ARMA MODEL IDENTIFICATION FROM NOISY OBSERVATIONS BASED ON A TWO-STEP ERRORS-IN- VARIABLES APPROACH*...... 14143 Roberto Diversi, Eric Grivel, Fernando Merchan

SUM-OF-EXPONENTIALS MODELING AND COMMON DYNAMICS ESTIMATION USING TENSORLAB...... 14150 I. Markovsky, O. Debals, L. De Lathauwer

IDENTIFICATION OF CRITICAL NODE CLUSTERS FOR CONSENSUS IN LARGE-SCALE SPATIAL NETWORKS...... 14156 Vishaal Krishnan, Sonia Martínez

A HYPER-PARAMETER ESTIMATION ALGORITHM IN BAYESIAN SYSTEM IDENTIFICATION USING OBFS-BASED KERNELS...... 14162 Takaaki Kondo, Seiji Yamaoka, Yoshito Ohta

A DECELERATION-BASED ALGORITHM FOR ANTI-SKID CONTROL OF AIRCRAFT...... 14168 L. D’Avico, M. Tanelli, S. M. Savaresi, M. Airoldi, G. Rapicano

DEVELOPMENT OF VIRTUAL SENSORS TO ESTIMATE CRITICAL AIRCRAFT FLIGHT PARAMETERS ...... 14174 G. Alcalay, C. Seren, G. Hardier, M. Delporte, P. Goupil

INTEGRATED DESIGN OF FLIGHT CONTROL SURFACES AND LAWS FOR NEW AIRCRAFT CONFIGURATIONS...... 14180 Y. Denieul, J. Bordeneuve-Guibé, D. Alazard, C. Toussaint, G. Taquin

FLIGHT TEST RESULTS OF DISTURBANCE ATTENUATION USING PREVIEW FEEDFORWARD COMPENSATION...... 14188 Yoshiro Hamada

COMPARISON OF CONTROL STRATEGIES FOR AIRCRAFT BLEED-AIR SYSTEMS ...... 14194 Alexander Pollok, Francesco Casella

AIRCRAFT DEFENSE DIFFERENTIAL GAME WITH NON-ZERO CAPTURE RADIUS ...... 14200 Eloy Garcia, David W. Casbeer, Zachariah E. Fuchs, Meir Pachter

A CHARACTERIZATION OF ALGEBRAIC CONNECTIVITY OF MULTI-AGENT SYSTEMS WITH HIERARCHICAL NETWORK STRUCTURE...... 14206 H. Lee, Y. Fujisaki

AN ASYNCHRONOUS GOSSIP ALGORITHM WITH RESTART STRATEGY IN DISTRIBUTED MINIMAX OPTIMIZATION* ...... 14212 Kenta Hanada, Takayuki Wada, Yasumasa Fujisaki

A POSSIBILISTIC APPROACH TO SET ACHIEVABLE AND FEASIBLE GOALS WHILE DESIGNING COMPLEX SYSTEMS...... 14218 Diadie Sow, Abdelhak Imoussaten, Pierre Couturier, Jacky Montmain

DECISION SUPPORT IN SUPPLY CHAINS BASED ON E-SEALS SECURE SYSTEM ...... 14224 Kateryna Daschkovska

APPLICATION OF A MODELING APPROACH ON A CYBER-PHYSICAL SYSTEM "ROBAIR" ...... 14230 Mohamed Amine Haj Kacem, Zineb Simeu-Abazi, Eric Gascard, Germain Lemasson, Jérôome Maisonnasse

AEN-PRO: AGENT-BASED SIMULATION TOOL FOR PERFORMANCE AND WORKING CONDITIONS ASSESSMENT IN PRODUCTION SYSTEMS USING WORKERS’ MARGINS OF MANOEUVER ...... 14236 I. El Mouayni, A. Etienne, A. Siadat, J-Y. Dantan, A. Lux

MODEL-BASED PROGNOSIS USING AN EXPLICIT DEGRADATION MODEL AND INVERSE FORM FOR UNCERTAINTY PROPAGATION ...... 14242 Elinirina I. Robinson, Julien Marzat, Tarek Raïssi

FAULT-TOLERANT CONTROL FOR LIPSCHITZ NONLINEAR SYSTEMS: VEHICLE INTER-DISTANCE CONTROL APPLICATION...... 14248 Mohamed Ryad Boukhari, Ahmed Chaibet, Moussa Boukhnifer, Sébastien Glaser

FAULT-DRIVEN STRUCTURAL DIAGNOSIS APPROACH IN A DISTRIBUTED CONTEXT...... 14254 C. G. Pérez-Zuñiga, E. Chanthery, L. Travé-Massuyès, J. Sotomayor

A KOLMOGOROV-SMIRNOV TEST TO DETECT CHANGES IN STATIONARITY IN BIG DATA* ...... 14260 Dongbin Zhao, Li Bu, Cesare Alippi, Qinglai Wei

ADAPTIVE POSITION TRACKING COMPENSATION FOR HIGH-SPEED TRAINS WITH ACTUATOR FAILURES*...... 14266 Zehui Mao, Gang Tao, Bin Jiang, Xing-Gang Yan, Maiying Zhong

ADAPTIVE KALMAN FILTER FOR ACTUATOR FAULT DIAGNOSIS...... 14272 Qinghua Zhang

STABILIZING PATTERNED DISTRIBUTED SYSTEMS BY STATE AND MEASUREMENT FEEDBACK*...... 14278 Adam C. Sniderman, Mireille E. Broucke, Gabriele M. T. D’Eleuterio

DINS: A DISTRIBUTED SCHEME FOR SENSOR FUSION OVER FADING CHANNELS* ...... 14284 Shanying Zhu, Jinming Xu, Cailian Chen, Xinping Guan, Binqiang Xue

STATE-CONTROLLING SETS FOR CONJUNCTIVE BOOLEAN NETWORKS *...... 14290 Zuguang Gao, Xudong Chen, Tamer Basar

A FRAMEWORK FOR DISTRIBUTED CONTROL BASED ON OVERLAPPING ESTIMATION FOR COOPERATIVE TASKS ...... 14296 Yvonne R. Stürz, Annika Eichler, Roy S. Smith

FIRST-ORDER AVERAGE CONSENSUS FOR COOPERATIVE CONTROL PROBLEMS USING NOVEL WEIGHTING STRATEGIES...... 14302 Furugh Mirali, Antonio Mendez Gonzalez, Herbert Werner

ON EVENT-BASED DISTRIBUTED KALMAN FILTER WITH INFORMATION MATRIX TRIGGERS *...... 14308 Xingkang He, Chen Hu, Wenchao Xue, Haitao Fang

SCALABILITY THROUGH DECENTRALIZATION: A ROBUST CONTROL APPROACH FOR THE ENERGY MANAGEMENT OF A BUILDING COMMUNITY*...... 14314 Georgios Darivianakis, Angelos Georghiou, Annika Eichler, Roy S. Smith, John Lygeros

ON THE CONNECTION BETWEEN NASH EQUILIBRIA AND SOCIAL OPTIMA IN ELECTRIC VEHICLE CHARGING CONTROL GAMES...... 14320 Luca Deori, Kostas Margellos, Maria Prandini

A DUALITY-BASED APPROACH FOR DISTRIBUTED OPTIMIZATION WITH COUPLING CONSTRAINTS ...... 14326 Ivano Notarnicola, Giuseppe Notarstefano

INTERFERENCE INDUCED GAMES IN NETWORKED CONTROL SYSTEMS AND A CLASS OF DUAL CONTROL SOLUTIONS* ...... 14332 Mehdi Abedinpour Fallah, Roland P. Malhamé, Francesco Martinelli

ON CONVEXITY AND MONOTONICITY IN GENERALIZED AGGREGATIVE GAMES ...... 14338 Giuseppe Belgioioso, Sergio Grammatico

EVOLUTION OF PUBLIC OPINION UNDER CONFORMIST AND MANIPULATIVE BEHAVIORS...... 14344 S. Rasoul Etesami, Sadegh Bolouki, Tamer Basar, Angelia Nedic

FURTHER RESULTS ON SAMPLED-DATA STABILIZATION OF TIME-DELAY SYSTEMS * ...... 14350 Mattia Mattioni, Salvatore Monaco, Dorothée Normand-Cyrot

IS A POINT-WISE DISSIPATION RATE ENOUGH TO SHOW ISS FOR TIME-DELAY SYSTEMS? * ...... 14356 Antoine Chaillet, Pierdomenico Pepe, Paolo Mason, Yacine Chitour

ON LYAPUNOV-KRASOVSKII CHARACTERIZATIONS OF INPUT-TO-OUTPUT STABILITY...... 14362 Hasala Gallolu Kankanamalage, Yuandan Lin, Yuan Wang

OBSERVER DESIGN FOR BILATERAL TELEOPERATION SYSTEMS WITH VARIABLE TIME DELAYS* ...... 14368 Marco A. Arteaga-Pérez, Laura López-Recillas, Mauro López, Emmanuel Nuño

SINGLE AGENT HERDING OF N-AGENTS: A SWITCHED SYSTEMS APPROACH*...... 14374 Ryan A. Licitra, Zachary D. Hutcheson, Emily A. Doucette, Warren E. Dixon

SUBOPTIMAL L∞ → L∞ CONTROL OF SWITCHED LINEAR MODELS: A SUPERSTABILITY APPROACH* ...... 14380 Y. Cheng, B. Ozbay, M. Sznaier, C. Lagoa

SOFTWARE AND HARDWARE CODE GENERATION FOR PREDICTIVE CONTROL USING SPLITTING METHODS*...... 14386 Harsh A. Shukla, Bulat Khusainov, Eric C. Kerrigan, Colin N. Jones

HARDWARE TAILORED LINEAR ALGEBRA FOR IMPLICIT INTEGRATORS IN EMBEDDED NMPC*...... 14392 Gianluca Frison, Rien Quirynen, Andrea Zanelli, Moritz Diehl, John Bagterp Jørgensen

A HIGH-PERFORMANCE RICCATI BASED SOLVER FOR TREE-STRUCTURED QUADRATIC PROGRAMS*...... 14399 Gianluca Frison, Dimitris Kouzoupis, Moritz Diehl, John Bagterp Jørgensen

LINEAR MODEL PREDICTIVE CONTROL AND TIME-DELAY IMPLICATIONS* ...... 14406 Mohammed-Tahar Laraba, Sorin Olaru, Silviu-Iulian Niculescu

PROGRAMMABLE LOGIC CONTROLLER FOR EMBEDDED IMPLEMENTATION OF INPUT- CONSTRAINED SYSTEMS*...... 14412 Richard M. Levenson, Zachary E. Nelson, Ambrose A. Adegbege

AN SOR-LIKE METHOD FOR FAST MODEL PREDICTIVE CONTROL ...... 14418 Haley A. Blanchard, Ambrose A. Adegbege

COLLECTIVE OPTIMIZATION PROBLEMS WITH OPTIMAL DECENTRALIZED SELFISH STRATEGIES*...... 14424 Petros G. Voulgaris, Nicola Elia

OPTIMAL SCHEDULING OF MULTIPLE SENSORS WITH PACKET LENGTH CONSTRAINT...... 14430 Shuang Wu, Xiaoqiang Ren, Subhrakanti Dey, Ling Shi

DISTRIBUTED RANDOM-FIXED PROJECTED ALGORITHM FOR CONSTRAINED OPTIMIZATION OVER DIGRAPHS* ...... 14436 Pei Xie, Keyou You, Shiji Song, Cheng Wu

HIERARCHICALLY AGGREGATED OPTIMIZATION ALGORITHM FOR HETEROGENEOUSLY DISPERSED UTILITY FUNCTIONS...... 14442 Koji Tsumura

A WEIGHTED MAXIMUM MATCHING ALGORITHM FOR INFLUENCE MAXIMIZATION AND STRUCTURAL CONTROLLABILITY ...... 14447 Giorgio Sartor, Yeow Khiang Chia, Laura Wynter, Justin Ruths

CONTINUOUS HANDS-OFF CONTROL BY CLOT NORM MINIMIZATION...... 14454 Niharika Challapalli, Masaaki Nagahara, Mathukumalli Vidyasagar

AN OPTIMIZATION TOOL FOR ENERGY EFFICIENCY OF STREET LIGHTING SYSTEMS IN SMART CITIES...... 14460 Raffaele Carli, Mariagrazia Dotoli, Edmondo Cianci

MINIMIZING THE INFLUENCE PROPAGATION IN SOCIAL NETWORKS FOR LINEAR THRESHOLD MODELS...... 14465 Lan Yang, Alessandro Giua, Zhiwu Li

HUMANS IN THE LOOP: A STOCHASTIC PREDICTIVE APPROACH TO BUILDING ENERGY MANAGEMENT IN THE PRESENCE OF UNPREDICTABLE USERS *...... 14471 Annika Eichler, Georgios Darivianakis, John Lygeros

PRIMAL-DUAL INTERIOR-POINT METHOD BASED ENERGY DISTRIBUTION OPTIMIZATION FOR SEMI-ACTIVE HYBRID ENERGY STORAGE SYSTEM ...... 14477 Rui Wang, Jun Peng, Yanhui Zhou, Hongtao Liao, Zhiwu Huang

NONLINEAR MODEL-PREDICTIVE OPTIMAL CONTROL OF AN ACTIVE CELL-TO-CELL LITHIUM- ION BATTERY PACK BALANCING CIRCUIT...... 14483 Ji Liu, Yang Chen, Hosam K. Fathy

TOTAL LEAST SQUARES STATE OF CHARGE ESTIMATION FOR LITHIUM-ION BATTERIES: AN EFFICIENT MOVING HORIZON ESTIMATION APPROACH ...... 14489 Ji Liu, Sergio Mendoza, Hosam K. Fathy

STABILITY BOUNDARY MAPPING FOR DISCRETE TIME LINEAR SYSTEMS ...... 14495 L. Pyta, I. Mutlu, F. Schrödel, N. Bajcinca, M. T. Soylemez, D. Abel

POSITION SENSORLESS FIELD ORIENTED CONTROL OF IPMSM UNDER PARAMETER UNCERTAINTIES...... 14501 Isa Eray Akyol, Mehmet Turan Soylemez

ERROR-FEEDBACK ROBUST CAUSAL OUTPUT TRACKING FOR DISCRETE-TIME LINEAR SYSTEMS*...... 14507 Jorge E. Ruiz-Duarte, Alexander G. Loukianov

GAP METRIC COMPUTATION FOR TIME-VARYING LINEAR SYSTEMS ON FINITE HORIZONS*...... 14513 Michael Cantoni, Harald Pfifer

H∞ CONTROL DESIGN OF A NOVEL ACTIVE QUARTER-CAR SUSPENSION SYSTEM...... 14519 Sami Rajala, Tomi Roinila, Matti Vilkko, Oussama Ajala, Jochen Rauh

MIMO ROBUST DISTURBANCE FEEDBACK CONTROL FOR REFRIGERATION SYSTEMS VIA AN LMI APPROACH...... 14525 Fukiko Kawai, Kasper Vinther, Palle Andersen, Jan D. Bendtsen

PATH PLANNING WITH FRACTIONAL POTENTIAL FIELDS FOR AUTONOMOUS VEHICLES ...... 14533 Julien Moreau, Pierre Melchior, Stéphane Victor, François Aioun, Franck Guillemard

APPLICATION OF A FRACTIONAL ORDER INTEGRAL RESONANT CONTROL TO INCREASE THE ACHIEVABLE BANDWIDTH OF A NANOPOSITIONER. *...... 14539 Andres San-Millan, Vicente Feliu-Batlle, Sumeet S. Aphale

FRACTIONAL ORDER ROBUST CONTROL OF A REVERSE OSMOSIS SEAWATER DESALINATION PLANT...... 14545 V. Feliu-Batlle, R. Rivas-Perez, A. Linares-Saez

ESTIMATION OF NON-INTEGER ORDER MODELS TO REPRESENT THE PRESSURE DYNAMICS IN COMMON-RAIL NATURAL GAS ENGINES...... 14551 Mirna Kapetina, Paolo Lino, Guido Maione, Milan Rapaic

SUFFICIENT STABILITY CONDITIONS OF FRACTIONAL SYSTEMS WITH PERTURBED DIFFERENTIATION ORDERS ...... 14557 Rachid Malti, Milan Rapaic

TUNING OF FRACTIONAL COMPLEX ORDER PID CONTROLLER* ...... 14563 Ayadi Guefrachi, Slaheddine Najar, Messaoud Amairi, Mohamed Aoun

ROBUST SEMI-AUTOMATIC IDENTIFICATION OF COMPLIANTLY COUPLED TWO-MASS SYSTEMS ...... 14569 Arne Wahrburg, Edo Jelavic, Silke Klose, Kim D. Listmann

GLOBAL FEEDFORWARD CONTROL OF SPATIO-TEMPORAL MECHANICAL SYSTEMS: WITH APPLICATION TO A PROTOTYPE WAFER STAGE ...... 14575 Robin De Rozario, Robbert Voorhoeve, Wouter Aangenent, Tom Oomen

POLYNOMIAL PIECE-WISE STIFFNESS IN CABLE-BASED TRANSMISSIONS FOR ROBOTS: MODELING AND IDENTIFICATION ...... 14581 M. Grossard, F. Fichera

TASK-ORIENTED RIGIDITY OPTIMIZATION FOR 7 DOF REDUNDANT MANIPULATORS...... 14588 D. Busson, R. Bearee, A. Olabi

ROBOT ASSISTED MACHINING OF THIN-WALLED STRUCTURES...... 14594 Niloufar Esfandi, Tsu-Chin Tsao

OPTIMAL DESIGN OF A UNIMORPH PIEZOELECTRIC CANTILEVER DEVOTED TO ENERGY HARVESTING TO SUPPLY ANIMAL TRACKING DEVICES...... 14600 Thomas Schlinquer, Abdenbi Mohand-Ousaid, Micky Rakotondrabe

TOWARDS THE GUARANTEED SYSTEM IDENTIFICATION: A RÉNYI ENTROPY BASED CRITERION APPROACH...... 14606 K. R. Chernyshov, E. Ph. Jharko

CUMULATIVE SUM ALGORITHMS FOR AUTOMATIC DETECTION OF GAS WELL PARAMETER CHANGES* ...... 14614 Yu. Burkatovskaya, S. Vorobeychikov, A. Kudinov, E. Frantcuzskaia

BIASED-RELAY FEEDBACK IDENTIFICATION FOR TIME DELAY SYSTEMS ...... 14620 M. Hofreiter

REFINING DYNAMICS IDENTIFICATION FOR CO-BOTS: CASE STUDY ON KUKA LWR4+*...... 14626 Sergey A. Kolyubin, Anton S. Shiriaev, Anthony Jubien

PREDICTING OIL PRODUCT PROPERTIES WITH INTELLIGENT SOFT SENSORS...... 14632 Natalia Bakhtadze, Ekaterina Sakrutina, Valery Pyatetsky

IDENTIFICATION AND SIMULATION MODELS IN LOGISTICS CONTROL SYSTEMS FOR PRODUCTION PROCESSES AND FREIGHTING ...... 14638 Alexandre Dolgui, Nataliya N. Bakhtadze, Rustem A. Sabitov, Gulnara S. Smirnova, Denis Elpashev

OPTIMAL AND PRACTICAL AIRCRAFT SEQUENCING AND SCHEDULING FOR POINT MERGE SYSTEM...... 14644 Youkyung Hong, Byunghun Choi, Somang Lee, Keumjin Lee, Youdan Kim

ANALYSIS FRAMEWORK FOR IMPROVED CONFLICT PREDICTION IN ATC SYSTEM MODERNIZATION * ...... 14650 Caio C. Fattori, Eric C. Souza, Suely Silva, Camila L. Cremoneze, Sergio O. Shigueru, Fabio S. Aguchiku, Gabriel P. Oliveira

A HYBRID GENETIC ALGORITHM TO SOLVE A MULTI-OBJECTIVE PICKUP AND DELIVERY PROBLEM...... 14656 Z. Al Chami, H. Manier, M.-A. Manier, C. Fitouri

A GENERAL MODEL FOR THE HOME HEALTH CARE ROUTING AND SCHEDULING PROBLEM WITH ROUTE BALANCING ...... 14662 J. Decerle, O. Grunder, A. Hajjam El Hassani, O. Barakat

PARTICLE SWARM OPTIMIZATION FOR CAPACITATED LOCATION-ROUTING PROBLEM ...... 14668 Z. Peng, H. Manier, M.-A. Manier

A MULTI-CRITERIA DECISION-MAKING SCHEME FOR MULTI-AIRCRAFT CONFLICT RESOLUTION*...... 14674 Yang Yang, Maria Prandini, Xianbin Cao, Wenbo Du

OPTIMIZING CONTROL OF WAVE ENERGY CONVERTER WITH LOSSES AND FATIGUE IN POWER TAKE OFF...... 14680 Kirsten M. Nielsen, Tom S. Pedersen, Palle Andersen, Simon Ambühl

CONTROL OF THE CCELL OSCILLATING SURGE WAVE ENERGY CONVERTER*...... 14686 A. J. Hillis, N. P. Sell, D. R. S. Chandel, A. R. Plummer

EXCITATION FORCE ESTIMATION AND FORECASTING FOR WAVE ENERGY APPLICATIONS...... 14692 M. Garcia-Abril, F. Paparella, J. V. Ringwood

THE EFFECT OF VISCOSITY ON THE MAXIMISATION OF ELECTRICAL POWER FROM A WAVE ENERGY CONVERTER UNDER PREDICTIVE CONTROL ...... 14698 Adrian C. M. O’Sullivan, Gordon Lightbody

REAL-TIME PASSIVE CONTROL OF WAVE ENERGY CONVERTERS USING THE HILBERT-HUANG TRANSFORM* ...... 14705 Paula B. Garcia-Rosa, Geir Kulia, John V. Ringwood, Marta Molinas

PART 23

HIERARCHICAL CONTROL STRATEGY FOR MAXIMISING POWER CONVERSION IN HEAVING WAVE ENERGY CONVERTERS* ...... 14711 Addy Wahyudie, Omsalama Saeed, Mohammed Jama

AN IMPULSIVE MODEL OF ENDOCRINE REGULATION WITH TWO NEGATIVE FEEDBACK LOOPS* ...... 14717 Hadi Taghvafard, Anton V. Proskurnikov, Ming Cao

BLOOD GLYCEMIA RECONSTRUCTION FROM DISCRETE MEASUREMENTS USING AN IMPULSIVE OBSERVER ...... 14723 Pablo S. Rivadeneira, Juan E. Sereno, Nicolas Magdelaine, Claude H. Moog

IMPULSIVE ZONE MPC FOR TYPE I DIABETIC PATIENTS BASED ON A LONG-TERM MODEL...... 14729 Alejandro H. González, Pablo S. Rivadeneira, Antonio Ferramosca, Nicolas Magdelaine, Claude H. Moog

MODEL ORDER REDUCTION OF GLUCOSE-INSULIN HOMEOSTASIS USING EMPIRICAL GRAMIANS AND BALANCED TRUNCATION* ...... 14735 Christian Tolks, Christoph Ament

BIFURCATION AND SYNCHRONIZATION ANALYSIS OF NEURAL MASS MODEL SUBPOPULATIONS...... 14741 Andrey A. Gorshkov, Sergei A. Plotnikov, Alexander L. Fradkov

CATEGORIZING ATTRACTOR-EFFECTIVE CANALYZING FUNCTIONS IN BOOLEAN NETWORKS*...... 14746 Yun-Bo Zhao, Hui Dong, Hongjie Ni

MULTIPLE FAULT DETECTION USING MULTI-RATE PROBABILITY PRINCIPAL COMPONENT ANALYSIS MODELS ...... 14752 Le Zhou, Junghui Chen, Zhiqiang Ge, Zhihuan Song

FAULT DIAGNOSIS MODEL OF BATCH PROCESS BASED ON IMPROVED KFDA...... 14758 Yuanjian Fu, Yingwei Zhang, Lin Feng

AN EXTENSION TO RPCA PARAMETER SELECTION AND PROCESS MONITORING*...... 14764 Alexander Rehmer, Andreas Kroll

FORECASTING IN INDUSTRIAL PROCESS CONTROL: A HIDDEN MARKOV MODEL APPROACH* ...... 14770 Muhammad Shahzad Afzal, Ahmad W. Al-Dabbagh

COMPARISON OF TWO BASIC STATISTICS FOR FAULT DETECTION AND PROCESS MONITORING...... 14776 Zhiwen Chen, Kai Zhang, Yuri A. W. Shardt, Steven X. Ding, Xu Yang, Chunhua Yang, Tao Peng

STABILITY AND PERFORMANCE-BASED STRATEGIES FOR SENSOR FAULT ACCOMMODATION IN MULTI-RATE SAMPLED-DATA PROCESSES*...... 14782 Shaoru Chen, James T. Allen, Nael H. El-Farra

OPTIMAL REACTIVE POWER FLOW IN A HV GRID CONNECTED TO SEVERAL DISTRIBUTION GRIDS WITH PREDICTIVE VOLT VAR CONTROL...... 14788 J. Morin, J. Y. Dieulot, F. Colas, S. Grenard, X. Guillaud

SLIDING MODE CONTROL OF HYDROGEN FUEL CELL AND ULTRACAPACITOR BASED ELECTRIC POWER SYSTEM: ELECTRIC VEHICLE APPLICATION ...... 14794 Roshini S. Ashok, Yuri B. Shtessel, Malek Ghanes

A CONTROLLER PROPOSED FOR MONO-INVERTER MULTIPLE-PMSM SYSTEM...... 14800 Tianyi Liu, Maurice Fadel

PARTICIPATION FACTORS AND SUB-GRAMIANS IN THE SELECTIVE MODAL ANALYSIS OF ELECTRIC POWER SYSTEMS ...... 14806 Stanislav N. Vassilyev, Igor B. Yadykin, Alexey B. Iskakov, Dmitry E. Kataev, Andrey A. Grobovoy, Natalya G. Kiryanova

A FIRST ORDER SLIDING MODE CONTROLLER FOR GRID CONNECTED SHUNT ACTIVE FILTER WITH A LCL FILTER...... 14812 M. A. E. Alali, J-P Barbot

A SYSTEMIC VIEWPOINT ON THE APPROXIMATION OF A POWER TRANSMISSION LINE MODEL ...... 14818 M. Belhocine, B. Marinescu

ROAD VEHICLE RELATIVE MOTION ESTIMATION USING GYRO-FREE IMUS AND SYSTEM INDEPENDENT OBSERVERS...... 14824 Thomas Brunner, Jonathan Ledy, Jean-Philippe Lauffenburger, María José Ruiz Santa Quiteria Manzano, Sebastien Changey, Joel Lambert, Michel Basset

AUTOMOTIVE VEHICLE SIDESLIP ANGLES ESTIMATION IN A BOUNDED-ERROR CONTEXT ...... 14830 S. Fergani, C. Jauberthie, L. Travé-Massuyès

ESTIMATION OF TIRE FORCES, ROAD GRADE, AND ROAD BANK ANGLE USING TIRE MODEL-LESS APPROACHES AND FUZZY LOGIC...... 14836 M. Acosta, A. Alatorre, S. Kanarachos, A. Victorino, A. Charara

ESTIMATION OF WHEEL-GROUND CONTACT NORMAL FORCES: EXPERIMENTAL DATA VALIDATION ...... 14843 V. A Alatorre, A. Victorino, A. Charara

PARTICLE GIBBS WITH ANCESTOR SAMPLING FOR IDENTIFICATION OF TIRE-FRICTION PARAMETERS ...... 14849 Karl Berntorp, Stefano Di Cairano

ROBUST VEHICLE SIDESLIP ESTIMATION BASED ON KINEMATIC CONSIDERATIONS...... 14855 D. Selmanaj, M. Corno, G. Panzani, S. M. Savaresi

OPTIMAL CONTROL ON STOCHASTIC TIME SCALES...... 14861 Dylan R. Poulsen, John M. Davis, Ian A. Gravagne

AN ALGORITHM TO FIND COMMON ZEROING-OUTPUT SYSTEMS OF ARBITRARILY SWITCHED LINEAR TIME-INVARIANT SYSTEMS ...... 14867 Ti-Chung Lee, Ying Tan, Iven Mareels

STABILITY ANALYSIS OF SWITCHED LINEAR SYSTEMS ON NON-UNIFORM TIME DOMAIN WITH UNSTABLE SUBSYSTEMS*...... 14873 F. Z. Taousser, M. Defoort, M. Djemai, S. Nicaise

NONLINEAR DYNAMIC INEQUALITIES AND STABILITY QUASILINEAR SYSTEMS ON TIME SCALES ...... 14879 S. V. Babenko, A. A. Martynyuk

SOME GENERALIZATIONS OF PACHPATTE INEQUALITIES ON TIME SCALES...... 14884 B. Ben Nasser, K. Boukerrioua, M. Defoort, M. Djemai, M. A. Hammami

POSITIVE REACHABILITY AND OBSERVABILITY OF LINEAR POSITIVE TIME-VARIANT SYSTEMS ON NON-UNIFORM TIME DOMAINS*...... 14890 Zbigniew Bartosiewicz

PATTERN CLASSIFICATION OF INSTANTANEOUS MENTAL WORKLOAD USING ENSEMBLE OF CONVOLUTIONAL NEURAL NETWORKS...... 14896 Jianhua Zhang, Sunan Li, Zhong Yin

INVERSE REINFORCEMENT LEARNING FOR IDENTIFICATION IN LINEAR-QUADRATIC DYNAMIC GAMES...... 14902 Florian Köpf, Jairo Inga, Simon Rothfuß, Michael Flad, Sören Hohmann

INVERSE OPTIMAL CONTROL FOR IDENTIFICATION IN NON-COOPERATIVE DIFFERENTIAL GAMES...... 14909 Simon Rothfuß, Jairo Inga, Florian Köpf, Michael Flad, Sören Hohmann

ESTIMATING DRIVER TIME-VARYING NEUROMUSCULAR ADMITTANCE THROUGH LPV MODEL AND GRIP FORCE ...... 14916 A. J. Pronker, D. A. Abbink, M. M. Van Paassen, M. Mulder

REDUCING THE HUMAN EFFORT FOR HUMAN-ROBOT COOPERATIVE OBJECT MANIPULATION VIA CONTROL DESIGN* ...... 14922 R. Jaberzadeh Ansari, Y. Karayiannidis

BLENDED SHARED CONTROL OF A HYDRAULIC EXCAVATOR ...... 14928 M. Allain, S. Konduri, H. Maske, P. R. Pagilla, G. Chowdhary

DESIGNING ETHICAL CYBER-PHYSICAL INDUSTRIAL SYSTEMS...... 14934 Damien Trentesaux, Raphaël Rault

ADDITIVE MANUFACTURING - CONSIDERATIONS ON GEOMETRIC ACCURACY AND FACTORS OF INFLUENCE...... 14940 Eduardo Umaras, Marcos S. G. Tsuzuki

STATISTICAL PROCESS MONITORING FOR IOT-ENABLED CYBERMANUFACTURING: OPPORTUNITIES AND CHALLENGES ...... 14946 Q. Peter He, Jin Wang, Devarshi Shah, Nader Vahdat

THE BUSINESS TRANSFORMATION TOWARDS SMART MANUFACTURING: A LITERATURE OVERVIEW ABOUT REFERENCE MODELS AND RESEARCH AGENDA ...... 14952 Chiara Cimini, Roberto Pinto, Sergio Cavalieri

ASSEMBLY SYSTEM CONFIGURATION THROUGH INDUSTRY 4.0 PRINCIPLES: THE EXPECTED CHANGE IN THE ACTUAL PARADIGMS...... 14958 Yuval Cohen, Maurizio Faccio, Francesco Gabriele Galizia, Cristina Mora, Francesco Pilati

DESIGN OF THE ELECTROMAGNETIC MILL AND THE AIR STREAM RATIO MODEL...... 14964 M. Wolosiewicz-Glab, D. Foszcz, Sz. Ogonowski

DATA MINING AND MODELLING OF CHARPY IMPACT ENERGY FOR ALLOY STEELS USING FUZZY ROUGH SETS ...... 14970 R. Colas-Marquez, M. Mahfouf

A NEURON-SIGNIFICANCE-INDEX-BASED SELF-ORGANIZATION PRUNING ALGORITHM FOR S- LINN* ...... 14976 Gang Yang, Le Wang, Wen Chen, Lizhen Dai, Hui Yang

DATA-DRIVEN SURROGATE-ASSISTED MULTI-OBJECTIVE OPTIMIZATION OF COMPLEX BENEFICIATION OPERATIONAL PROCESS...... 14982 Chengzhi Wang, Jinliang Ding, Ran Cheng, Changxin Liu, Tianyou Chai

A SLIDING-WINDOW T-S FUZZY NEURAL NETWORK MODEL FOR PREDICTION OF SILICON CONTENT IN HOT METAL ...... 14988 Heng Zhou, Chunjie Yang, Wenhui Liu, Tian Zhuang

A CPS BASED OPTIMAL OPERATIONAL CONTROL SYSTEM FOR FUSED MAGNESIUM FURNACE ...... 14992 Tian-You Chai, Zhi-Wei Wu, Hong Wang

A SPATIAL APPROACH TO CONTROL OF PLATOONING VEHICLES: SEPARATING PATH- FOLLOWING FROM TRACKING...... 15000 E. Lefeber, J. Ploeg, H. Nijmeijer

MULTI-OBJECTIVE PLATOON MANEUVERING USING ARTIFICIAL POTENTIAL FIELDS ...... 15006 E. Semsar-Kazerooni, K. Elferink, J. Ploeg, H. Nijmeijer

DECENTRALIZED CONTROL FOR L2 WEAK STRING STABILITY OF VEHICLE PLATOON...... 15012 Joel Ferguson, Alejandro Donaire, Steffi Knorn, Richard H. Middleton

INTEGER LINEAR PROGRAM APPROACH FOR EVACUATION OF DISASTER VICTIMS WITH DIFFERENT URGENCY LEVELS...... 15018 Byung Hoon Oh, Kwangyeon Kim, Han-Lim Choi, Inseok Hwang

DEFENDABLE REGION FOR THE MULTIPLAYER REACH-AVOID GAME WITH FREE ATTACKER- DEFENDER VELOCITY RATIO ...... 15024 Zhiwei Hou, Yongji Wang, Lei Liu

RESEARCH ON INTERCEPTING STRATEGY OF MULTIPLE KILL VEHICLE IN MIDCOURSE DEFENSE BASED ON MULTI-SENSORS FUSION METHOD...... 15032 Heng Shi, Jihong Zhu, Xiaming Yuan, Minchi Kuang, Wufan Wang, Zhihui Deng

OPTIMAL IMPULSIVE CONTROL OF EPIDEMIC SPREADING OF HETEROGENEOUS MALWARE...... 15038 Vladislav Taynitskiy, Elena Gubar, Quanyan Zhu

DESIGN OF MDIS FOR TYPE 1 DIABETES TREATMENT VIA ROLLING HORIZON CARDINALITY- CONSTRAINED OPTIMISATION...... 15044 Diego S. Carrasco, Aaron D. Matthews, Graham C. Goodwin, Ramón A. Delgado, Adrian M. Medioli

A HARDWARE-IN-THE-LOOP SIMULATOR FOR THE DEVELOPMENT OF MEDICAL THERAPY DEVICES ...... 15050 Eike Smolinski, Alexander Benkmann, Peter Westerhoff, Muot Van Nguyen, Wolfgang Drewelow, Torsten Jeinsch

HEART BOUNDING BOX AUTOMATIC DETERMINATION IN CORONAL MAGNETIC RESONANCE TEMPORAL SEQUENCES...... 15056 Fábio Cappabianco, Marcos S. G. Tsuzuki, Paulo Miranda, Thiago C. Martins, Seichiro Kagei, Toshiyuki Gotoh, Tae Iwasawa

EVALUATION OF HUMAN POSTURAL SYSTEM DYNAMICAL BEHAVIOR VIA DEVELOPED STATOKINESIGRAM TRAJECTORY...... 15062 B. Barbolyas, K. Suttova, J. Vachalek, C. Belavy, B. Hucko, L. Dedik

POSITIVE NONLINEAR CONTROL OF TUMOR GROWTH USING ANGIOGENIC INHIBITION * ...... 15068 Dániel András Drexler, Johanna Sápi, Levente Kovács

EXTREMUM SEEKING CONTROL BASED ZONE ADAPTATION FOR ZONE MODEL PREDICTIVE CONTROL IN TYPE 1 DIABETES * ...... 15074 Zhixing Cao, Eyal Dassau, Ravi Gondhalekar, Francis J. Doyle III

ANESTHESIOLOGIST IN THE LOOP AND PREDICTIVE ALGORITHM TO MAINTAIN HYPNOSIS WHILE MIMICKING SURGICAL DISTURBANCE...... 15080 Clara M. Ionescu, Dana Copot, Robin De Keyser

MODEL FOR SIMULATING FASTING GLUCOSE IN TYPE 2 DIABETES AND THE EFFECT OF ADHERENCE TO TREATMENT...... 15086 Tinna B. Aradóttir, Dimitri Boiroux, Henrik Bengtsson, Jonas Kildegaard, Brad V. Orden, John B. Jørgensen

HOW THE EXTRINSIC NOISE IN GENE EXPRESSION CAN BE CONTROLLED?...... 15092 Aarón Vázquez-Jiménez, Moisés Santillán, Jesús Rodríguez-González

PATIENT SPECIFIC MODEL BASED INDUCTION OF HYPNOSIS USING FRACTIONAL ORDER CONTROL ...... 15097 Dana Copot, Cristina Muresan, Robin De Keyser, Clara Ionescu

GLOBAL STABILITY ANALYSIS OF HEALTHY SITUATION FOR A COUPLED MODEL OF HEALTHY AND CANCEROUS CELLS DYNAMICS IN ACUTE MYELOID LEUKEMIA*...... 15103 Abdelhafid Zenati, Messaoud Chakir, Mohamed Tadjine

AN EVALUATION OF THE EFFECT OF STIMULATION PARAMETERS AND ELECTRODE TYPE ON BICEP MUSCLE RESPONSE FOR A VOLTAGE-CONTROLLED FUNCTIONAL ELECTRICAL STIMULATOR...... 15109 Ashley M. Stewart, Christopher G. Pretty, Xiaoqi Chen

CONTROL-RELEVANT DESIGN OF SYSTEM IDENTIFICATION EXPERIMENTS TO IMPROVE BEHAVIORAL INTERVENTIONS...... 15115 César A. Martín, Daniel E. Rivera, Eric B. Hekler

BASIS FUNCTION MODELLING OF RESPIRATORY PATIENTS WITH HIGH OR LOW AUTO-PEEP...... 15121 R. Langdon, P. D. Docherty, J. G. Chase

LEARNING-BASED CONTROL OF CANCER CHEMOTHERAPY TREATMENT*...... 15127 Regina Padmanabhan, Nader Meskin, Wassim M. Haddad

CLOSED-LOOP CONTROLLER FOR TREATING LOWER URINARY TRACT DYSFUNCTION: A MULTI- LINEAR PREDICTIVE CONTROL STRATEGY...... 15133 Jean Thomas, Hesham W. Gomma

A DIRECT METHOD FOR RECONSTRUCTING DYNAMIC SPECT IMAGES...... 15139 Zsófia Barna, Ákos Szlávecz, Gábor Hesz, Balázs Benyó

THE EFFECT OF MEASUREMENT ERROR ON THE HIERARCHICAL IDENTIFICATION OF A GAS EXCHANGE MODEL...... 15145 Jörn Kretschmer, Paul D. Docherty, Bernhard Laufer, Knut Möller

VIRTUAL REALITY OF ANIMATED LUNG WITH INTERNAL STRUCTURES...... 15151 Bruno T. Nakagawa, Rafael V. S. Penteado, Marcos S. G. Tsuzuki, Romero Tori, Rogerio Y. Takimoto, Thiago C. Martins, Leonardi I. Abe, Roberto S. U. Rosso, Toshiyuki Gotoh, Tae Iwasawa

ANALYSIS OF STOCHASTIC NOISE OF BLOOD-GLUCOSE DYNAMICS...... 15157 Balázs Benyó, Béla Paláncz, Ákos Szlávecz, Kent Stewart, Jozsef Homlok, Christopher G. Pretty, J. Geoffrey Chase

CHARACTERISATION OF OPTIMAL RESPONSES TO PULSE INPUTS IN THE BERGMAN MINIMAL MODEL ...... 15163 Christopher Townsend, Maria M. Seron, Graham C. Goodwin

REVIEW OF UPPER LIMB HYBRID EXOSKELETONS ...... 15169 Ashley M. Stewart, Christopher G. Pretty, Mark Adams, Xiaoqi Chen

NEGATIVE LUNG ELASTANCE IN MECHANICALLY VENTILATED SPONTANEOUSLY BREATHING PATIENT ...... 15179 Nor Salwa Damanhuri, Yeong Shiong Chiew, Paul D. Docherty, Nor Azlan Othman, Geoffrey M. Shaw, Thomas Desaive, J. Geoffrey Chase

A NEW COMMAND SHAPING GUIDANCE LAW USING LAGRANGE MULTIPLIER ...... 15185 Chang-Hun Lee, Hyo-Sang Shin, Antonios Tsourdos, Jin-Ik Lee

REFERENCE SHAPING FOR IMPACT ANGLE AND TIME CONTROL UNDER FIELD-OF-VIEW LIMIT ...... 15191 Sungjun Ann, Seokwon Lee, Youdan Kim

WEAVING GUIDANCE FOR MISSILE OBSERVABILITY ENHANCEMENT...... 15197 Hae-In Lee, Hyo-Sang Shin, Antonios Tsourdos

4D TRAJECTORY DESIGN FOR VISION ONLY SENSE AND AVOID FLIGHT TEST * ...... 15203 Mark Melczer, Peter Bauer, Jozsef Bokor

A GEOMETRIC APPROACH FOR THE COOPERATIVE TWO-PURSUER ONE-EVADER DIFFERENTIAL GAME...... 15209 Eloy Garcia, Zachariah E. Fuchs, Dejan Milutinovic, David W. Casbeer, Meir Pachter

VISION ONLY COLLISION DETECTION WITH OMNIDIRECTIONAL MULTI-CAMERA SYSTEM * ...... 15215 Péter Bauer, Antal Hiba

DEMAND FORECASTING FOR IRREGULAR DEMANDS IN BUSINESS AIRCRAFT SPARE PARTS SUPPLY CHAINS BY USING ARTIFICIAL INTELLIGENCE (AI)...... 15221 K. Nemati Amirkolaii, A. Baboli, M. K. Shahzad, R. Tonadre

DECISION SUPPORT FOR JOINT TEST AND DIAGNOSIS OF PRODUCTION SYSTEMS BASED ON A CONCEPT OF SHARED KNOWLEDGE...... 15227 Sebastian Abele, Michael Weyrich

MIXED-INITIATIVE SYSTEM FOR TACTICAL PLANNING ALLOWING REAL-TIME CONSTRAINT INSERTIONS...... 15233 Jean Bouchard, Jonathan Gaudreault, Claude-Guy Quimper, Philippe Marier, Edith Brotherton, Nathaniel Simard

IMPROVED FORECASTS FOR UNCERTAIN AND UNPREDICTABLE SPARE PARTS DEMAND IN BUSINESS AIRCRAFT’S WITH BOOTSTRAP METHOD ...... 15241 N. Ahmadi Mobarakeh, M. K. Shahzad, A. Baboli, R. Tonadre

FALLBACK AND RECOVERY CONTROL SYSTEM OF INDUSTRIAL CONTROL SYSTEM FOR CYBERSECURITY ...... 15247 Tsubasa Sasaki, Kenji Sawada, Seiichi Shin, Shu Hosokawa

EXPERIMENTAL DESIGN FOR BUFFER OPTIMIZATION OF UNRELIABLE PRODUCTION SYSTEM WITH TRANSPORTATION DELAY BASED ON SALAMEH MODEL ...... 15253 S. Souiden, A. Nyounguè, N. Rezg

A DISTRIBUTED FAULT DETECTION AND ISOLATION ALGORITHM BASED ON MOVING HORIZON ESTIMATION ...... 15259 M. Lauricella, M. Farina, R. Schneider, R. Scattolini

ROBUST FAULT DETECTION FOR UNCERTAIN SWITCHED SYSTEMS...... 15265 Ahmad Farhat, Damien Koenig

H-/L∞ FAULT DETECTION OBSERVER DESIGN FOR LINEAR PARAMETER-VARYING SYSTEMS *...... 15271 Zhenhua Wang, Cheng-Chew Lim, Peng Shi, Yi Shen

ROBUST JUST-IN-TIME LEARNING APPROACH AND ITS APPLICATION ON FAULT DETECTION...... 15277 Han Yu, Shen Yin, Hao Luo

SEPARATION DESIGN OF FAULT ESTIMATION AND ACCOMMODATION FOR SWITCHED SYSTEMS...... 15283 Hao Yang, Hong Li, Bin Jiang, Vincent Cocquempot

DISTURBANCE OBSERVER-BASED DISCRETE-TIME NEURAL CONTROL FOR UNMANNED AERIAL VEHICLES WITH UNCERTAINTIES AND DISTURBANCES *...... 15289 Shuyi Shao, Mou Chen, Rong Mei

EVENT-TRIGGERED SAMPLED-DATA ENERGY CONTROL OF A PENDULUM* ...... 15295 Ruslan Seifullaev, Alexander Fradkov, Emilia Fridman

ABSOLUTE STABILIZATION OF LUR’E SYSTEMS UNDER EVENT-TRIGGERED FEEDBACK * ...... 15301 Fan Zhang, Manuel Mazo, Nathan Van De Wouw

EVENT-TRIGGERED CONTROL FOR NONLINEAR RATIONAL SYSTEMS* ...... 15307 L. G. Moreira, L. B. Groff, J. M. Gomes Da Silva Jr., D. Coutinho

SELF-TRIGGERED CONTROL FOR UNIFORM ULTIMATE BOUNDEDNESS USING SKEWED STRUCTURED SINGULAR VALUES*...... 15313 Masako Kishida

DISTRIBUTED EVENT-TRIGGERED SUBGRADIENT METHOD FOR CONVEX OPTIMIZATION WITH A COMMON CONSTRAINT SET ...... 15319 Yuichi Kajiyama, Naoki Hayashi, Shigemasa Takai

SEPARATION IN COUPLED EVENT-TRIGGERED NETWORKED CONTROL SYSTEMS * ...... 15325 Precious Ugo Abara, Sandra Hirche

OPTIMAL CONTROL OF DISCRETE-TIME SWITCHED LINEAR SYSTEMS VIA CONTINUOUS PARAMETERIZATION...... 15331 Jérémie Kreiss, Laurent Bako, Eric Blanco

EXPLICIT BOUNDARY CONTROLS FOR FINITE DIFFUSION PROCESS...... 15337 R. Tenno

DISTRIBUTED OPTIMIZATION OVER DIRECTED GRAPHS WITH THE HELP OF LIE BRACKETS...... 15343 Christian Ebenbauer, Simon Michalowsky, Victoria Grushkovskaya, Bahman Gharesifard

OPTIMAL TRAJECTORIES AND STATE ESTIMATION BASED ON SPARSITY-IN-TIME...... 15349 Takuya Ikeda, Kenji Kashima

ELLIPSOIDAL ESTIMATES OF REACHABLE SETS FOR CONTROL SYSTEMS WITH NONLINEAR TERMS * ...... 15355 Tatiana F. Filippova

PARTICLE MODEL PREDICTIVE CONTROL: TRACTABLE STOCHASTIC NONLINEAR OUTPUT- FEEDBACK MPC...... 15361 Martin A. Sehr, Robert R. Bitmead

ABOUT A POST-PROCESSING DESIGN OF REGRESSION-LIKE NONLINEAR INTERNAL MODELS ...... 15367 Michelangelo Bin, Lorenzo Marconi

A LAB PROTOTYPE OF PRESSURE CONTROL IN WATER DISTRIBUTION NETWORKS ...... 15373 Nicola Fontana, Maurizio Giugni, Luigi Glielmo, Gustavo Marini, Francesca Verrilli

PART 24

BIASED SOLUTIONS OF DIFFERENTIAL EQUATIONS AND THEIR USAGE IN CONTROL...... 15379 Francesco Carravetta

ON STABILIZING CONTROL OF GAUSSIAN PROCESSES FOR UNKNOWN NONLINEAR SYSTEMS...... 15385 Yuji Ito, Kenji Fujimoto, Yukihiro Tadokoro, Takayoshi Yoshimura

APPROXIMATE OPTIMAL CONTROL VIA MEASUREMENT FEEDBACK FOR A CLASS OF NONLINEAR SYSTEMS...... 15391 T. Mylvaganam, M. Sassano

A SMALL-GAIN-THEOREM-LIKE APPROACH TO NONLINEAR OBSERVABILITY VIA FINITE CAPACITY CHANNELS *...... 15397 A. Pogromsky, A. Matveev, A. Proskurnikov, E. Fridman

ROBUSTNESS OF ROTOR POSITION OBSERVER FOR PERMANENT MAGNET SYNCHRONOUS MOTORS WITH UNKNOWN MAGNET FLUX...... 15403 Pauline Bernard, Laurent Praly

A GLOBAL OBSERVER FOR ATTITUDE AND GYRO BIASES FROM VECTOR MEASUREMENTS...... 15409 Philippe Martin, Ioannis Sarras

ON ADAPTIVE OBSERVERS FOR SYSTEMS WITH STATE AND PARAMETER NONLINEARITIES ...... 15416 G. Besançon, A. Ticlea

STUBBORN ISS REDESIGN FOR NONLINEAR HIGH-GAIN OBSERVERS ...... 15422 Daniele Astolfi, Angelo Alessandri, Luca Zaccarian

A GLOBAL BIVALUED-OBSERVER FOR THE SENSORLESS INDUCTION MOTOR*...... 15428 Jaime A. Moreno, H. Mujica–Ortega, G. Espinosa-Pérez

A PASSIVITY-BASED DISTRIBUTED REFERENCE GOVERNOR FOR CONSTRAINED ROBOTIC NETWORKS *...... 15434 Tam Nguyen, Takeshi Hatanaka, Mamoru Doi, Emanuele Garone, Masayuki Fujita

NONLINEAR CONSENSUS PROTOCOLS WITH APPLICATIONS TO QUANTIZED SYSTEMS *...... 15440 Jieqiang Wei, Xinlei Yi, Henrik Sandberg, Karl Henrik Johansson

LEADER-FOLLOWING ATTITUDE CONSENSUS OF MULTIPLE RIGID BODY SYSTEMS BY AN ADAPTIVE DISTRIBUTED OBSERVER APPROACH * ...... 15446 He Cai, Jie Huang

A PASSIVITY-BASED CONTROLLER WITHOUT VELOCITY MEASUREMENTS FOR THE LEADERLESS CONSENSUS OF EULER-LAGRANGE SYSTEMS ...... 15452 Emmanuel Nuño, Romeo Ortega, Luis Basañez

ROBUST DISTANCE-BASED FORMATION CONTROL OF MULTIPLE RIGID BODIES WITH ORIENTATION ALIGNMENT*...... 15458 Alexandros Nikou, Christos K. Verginis, Dimos V. Dimarogonas

EXPONENTIAL STABILITY FOR EXTREMUM SEEKING CONTROL SYSTEMS ...... 15464 Raik Suttner, Sergey Dashkovskiy

ROBUST ANISOTROPY-BASED CONTROL OF LINEAR DISCRETE-TIME DESCRIPTOR SYSTEMS WITH NORM-BOUNDED UNCERTAINTIES* ...... 15471 Alexey A. Belov, Olga G. Andrianova

NEW LMI CONDITIONS FOR ADMISSIBILITY ANALYSIS OF TIME-VARYING DESCRIPTOR SYSTEMS...... 15477 Ana Carolina Dos Santos Paulino, Gabriela Iuliana Bara

ON LMI APPROACH TO ROBUST STATE-FEEDBACK H∞ CONTROL FOR DISCRETE-TIME DESCRIPTOR SYSTEMS WITH UNCERTAINTIES IN ALL MATRICES* ...... 15483 Alexey A. Belov, Olga G. Andrianova

DR-ADMISSIBILITY WITH STATIC OUTPUT FEEDBACK FOR UNCERTAIN DESCRIPTOR FUZZY SYSTEM...... 15488 Mohamed Amin Regaieg, Mourad Kchaou, Ahmed El-Hajjaji, Mohamed Chaabane

A DESCRIPTOR SYSTEM APPROACH FOR FINITE-TIME CONTROL VIA DYNAMIC OUTPUT FEEDBACK OF LINEAR CONTINUOUS SYSTEMS ...... 15494 B. Bhiri, C. Delattre, M. Zasadzinski, K. Abderrahim

PASSIVITY AND ELECTRIC CIRCUITS: A BEHAVIORAL APPROACH ...... 15500 Timothy H. Hughes

AN IMPROVED OUTPUT FEEDBACK MPC SCHEME FOR CONSTRAINED LINEAR SYSTEMS * ...... 15506 Sankaranarayanan Subramanian, Sergio Lucia, Sebastian Engell

FLIGHT DYNAMICS & CONTROL FOR SMART MUNITION: THE ISL CONTRIBUTION ...... 15512 Spilios Theodoulis, Philippe Wernert

SEQUENTIAL CONVEX RELAXATION FOR ROBUST STATIC OUTPUT FEEDBACK STRUCTURED CONTROL *...... 15518 Reinier Doelman, Michel Verhaegen

DESIGN OF PARALLEL FEED-FORWARD COMPENSATOR AND ITS APPLICATION TO ELECTROMECHANICAL SYSTEM WITH FRICTION LOAD ...... 15524 I. Golovin, S. Palis

RISK-COHERENT H2-OPTIMAL DISTURBANCE REJECTION UNDER MODEL UNCERTAINTY ...... 15530 Matias I. Müller, Patricio E. Valenzuela, Cristian R. Rojas

STATIC OUTPUT FEEDBACK STABILIZATION OF 2D SYSTEMS VIA DUAL PROBLEMS...... 15536 Vladimir Pozdyayev

A MODEL FOR CONTROLLED DOSING OF FEMTO-LITRE VOLUME LIQUIDS USING HOLLOW MICROCANTILEVER ...... 15542 Xi Cao, Rick De Gruiter, Ralph Van Oorschot, Simone Baldi, Hassan HosseinNia, Murali Krishna Ghatkesar

ON NANOPOSITIONING CONTROL OF A CANTILEVER WITH ELECTROSTATIC ACTUATION AND TUNNELING CURRENT SENSING BASED ON MULTI-MODE MODELLING ...... 15548 Alina Voda, Gildas Besançon, Lukasz Ryba

KALMAN FILTER ENABLED HIGH-SPEED CONTROL OF A MEMS NANOPOSITIONER ...... 15554 Michael G. Ruppert, Mohammad Maroufi, Ali Bazaei, S. O. Reza Moheimani

RECURSIVE ONLINE COMPENSATION OF PIEZOELECTRIC NONLINEARITIES VIA A MODIFIED PRANDTL-ISHLINSKII APPROACH...... 15561 Christopher Schindlbeck, Christian Pape, Eduard Reithmeier

TRACKING CONTROL OF CONSTANT-LINEAR-VELOCITY SPIRAL REFERENCE BY LQG METHOD...... 15568 Ali Bazaei, Mohammad Maroufi, S. O. Reza Moheimani

ADAPTIVE SLIDING MODE CONTROL OF HYSTERESIS IN PIEZOELECTRIC ACTUATOR...... 15574 S. F. Alem, I. Izadi, F. Sheikholeslam

SIMULATION-BASED MULTI-CRITERION APPROACH TO PRODUCTION PROCESSES CONTROL ...... 15580 Vladimir A. Lototsky, Anatoly I. Yakimov

CALCULATING TECHNICAL AND ECONOMICAL INDEXES AND PROVIDING NORMAL NPP OPERATION...... 15586 Elena Jharko

EXPERIMENTAL AND THEORETICAL COMPARISON OF SEVERAL RESOURCE ALLOCATION MECHANISMS ...... 15592 N. A. Korgin, V. O. Korepanov

ADAPTIVE CONTROL OF MANUFACTURING SYSTEMS WITH INCOMPLETE INFORMATION ABOUT DEMAND AND INVENTORY...... 15598 Vladimir Polotski, Jean-Pierre Kenne

CLOSED-LOOP IDENTIFICATION OF AN INDUSTRIAL EXTRUSION PROCESS*...... 15604 I. Meintanis, G. Halikias, R. Giovenco, A. Yiotis, K. Chrysagis

TOWARDS THE PROBLEM OF CREATING A SAFETY MANAGEMENT SYSTEM IN THE TRANSPORTATION AREA...... 15610 Elena Jharko, Ekaterina Sakrutina

A MOTORCYCLE’S ANALYTICAL MODEL DESCRIBING THE HIGHSIDE FALL IN PANIC SITUATIONS ...... 15616 Andrea Bonci, Riccardo De Amicis, Sauro Longhi, Emanuele Lorenzoni, Giuseppe A. Scala

A NEW ESTIMATION CONCEPT FOR AUTOMOTIVE SUSPENSIONS * ...... 15622 A. Beckerman, F. Assadian, C. Ma

IMPROVED TRAJECTORY PREDICTION AND SIMPLIFICATION ANALYSIS FOR ATM SYSTEM MODERNIZATION * ...... 15627 Eric Conrado De Souza, Caio Cesar Fattori, Suely Silva

A NETWORK MODEL FOR AN URBAN BIKE SHARING SYSTEM* ...... 15633 Giuseppe C. Calafiore, Francesco Portigliotti, Alessandro Rizzo

MODELLING AND ANALYSIS OF MIXED TRAFFIC FLOW WITH LOOK-AHEAD CONTROLLED VEHICLES *...... 15639 Balázs Németh, Zsuzsanna Bede, Péter Gáspár

OPTIMAL TRAJECTORIES, NONLINEAR MODELS AND CONSTRAINTS IN WAVE ENERGY DEVICE CONTROL ...... 15645 Alexis Mérigaud, John V. Ringwood

OVERVIEW OF WAVE ENERGY CONVERTER DEVICES AND THE DEVELOPMENT OF A NEW MULTI- AXIS LABORATORY PROTOTYPE...... 15651 G. A. Aggidis, C. J. Taylor

NON-LINEAR VISCOUS AND FRICTION EFFECTS ON A HEAVING POINT ABSORBER DYNAMICS AND LATCHING CONTROL PERFORMANCE ...... 15657 Bingyong Guo, Ron J. Patton

TOWARDS OCEAN GRAZER’S MODULAR POWER TAKE-OFF SYSTEM MODELING:A PORT- HAMILTONIAN APPROACH ...... 15663 J. J. Barradas-Berglind, M. Muñoz-Arias, Y. Wei, W. A. Prins, A. I. Vakis, B. Jayawardhana

A DISCONTINUOUS GALERKIN METHOD FOR OPTIMAL AND SUB-OPTIMAL CONTROL APPLIED TO AN OSCILLATING WATER COLUMN WAVE ENERGY CONVERTER...... 15670 J. C. C. Henriques, J. M. Lemos, L. Eça, J. N. H. Valério, L. M. C. Gato, A. F. O. Falcão

CAUSAL CONTROL DESIGN FOR WAVE ENERGY CONVERTERS WITH FINITE STROKE ...... 15678 J. T. Scruggs

AN OBJECT-ORIENTED LIBRARY FOR PROCESS CONTROL SIMULATIONS IN MATLAB ...... 15686 Carlos Rodríguez, María Guinaldo, Ernesto Aranda-Escolástico, José L. Guzmán, Sebastián Dormido

A SIMULATION AND EXPERIMENTAL ENVIRONMENT FOR TEACHING CHEMICAL REACTION PROCESS DYNAMICS AND CONTROL ...... 15692 Malia L. Kawamura, Andrew G. Alleyne

LIGHT TRACKING SYSTEM FOR TEACHING LABORATORY USE...... 15698 I. Bates, O. Maganga

A LOW-COST LABORATORY EXPERIMENT SETUP FOR FREQUENCY DOMAIN ANALYSIS FOR A FEEDBACK CONTROL SYSTEMS COURSE...... 15704 Bahadir Çatalbas, Ismail Uyanik

COMPARING CONTROLLERS BASED ON IPDT PLANT MODELS ...... 15710 M. Huba, K. Žáková

IMPROVING CONTROL ENGINEERING EDUCATION WITH TRIK CYBERNETIC SYSTEM ...... 15716 Roman M. Luchin, Ilya Y. Shirokolobov, Dmitry V. Sokolov, Iakov A. Kirilenko, Andrey N. Terekhov, Anastasia Stone

ACTUATOR FAULT AND DISTURBANCE ESTIMATION USING THE T-S FUZZY MODEL ...... 15722 Shanzhi Li, Haoping Wang, Abdel Aitouche, Yang Tian, Nicolai Christov

PERFORMANCE EVALUATION OF STATISTICAL METHOD FOR INCIPIENT FAULT DETECTION UNDER NOISY ENVIRONMENT ...... 15728 Suryakant Gautam, Prakash K. Tamboli, Vaibhav H. Patankar, Siddhartha P. Duttagupta, Kallol Roy

DESIGN OF FAULT MONITORING FRAMEWORK FOR MULTI-ENERGY SYSTEMS USING SIGNED DIRECTED GRAPH* ...... 15734 R. Smaili, R. El Harabi, M. N. Abdelkrim

QUALITY-RELATED FAULT DETECTION APPROACHES BASED ON DATA PREPROCESSING*...... 15740 Guang Wang, Jianfang Jiao, Shen Yin

SAFE DESIGN OF CONSECUTIVE-K-OUT-OF-N SYSTEMS UNDER UNCERTAINTY ...... 15748 Siqi Qiu, Mohamed Sallak, Walter Schön, Xin Guo Ming

FAULT DIAGNOSIS AND FAULT TOLERANT CONTROL FOR DISCRETE-TIME LINEAR SYSTEMS WITH SENSOR FAULT* ...... 15754 Dongsheng Du, Vincent Cocquempot

DISCRETE–TIME FIELD ORIENTED CONTROL FOR INDUCTION MOTORS...... 15760 Iván E. Dueñas, Jorge Rivera, Stefano Di Gennaro, Susana Ortega

TORQUE RIPPLE REDUCTIONS FOR NON-SINUSOIDAL BEMF MOTOR : AN OBSERVATION BASED CONTROL APPROACH* ...... 15766 R. Delpoux, X. Lin-Shi, X. Brun

OBSERVABILITY MEASUREMENT AND CONTROL STRATEGY FOR INDUCTION MACHINE SENSORLESS DRIVE IN TRACTION APPLICATIONS...... 15773 G. Lefebvre, X. Lin-Shi, M. Nadri, J.-Y. Gauthier, A. Hijazi

HIGH FREQUENCY IMPEDANCE ANALYSIS FOR SENSORLESS STARTING OF WOUND ROTOR SYNCHRONOUS MACHINES...... 15780 A. Beciu, E. Godoy, P. Rodriguez-Ayerbe, I. Bahri, A. Maalouf

DIRECT CONTROL STRATEGY FOR A THREE PHASE EIGHT-LEVEL FLYING-CAPACITOR INVERTER...... 15786 S. Laamiri, M. Ghanes, L. Amet, G. Santomenna

PARALLEL INTERCONNECTION OF BUCK CONVERTERS REVISITED ...... 15792 Jean-François Trégouët, Romain Delpoux

DECENTRALIZED RECONFIGURABLE MULTI-ROBOT COORDINATION FROM LOCAL CONNECTIVITY AND COLLISION AVOIDANCE SPECIFICATIONS *...... 15798 Constantinos Vrohidis, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

COMPOSITIONAL ABSTRACTIONS OF NETWORKS OF STOCHASTIC HYBRID SYSTEMS: A DISSIPATIVITY APPROACH* ...... 15804 Asad Ullah Awan, Majid Zamani

ONLINE ABSTRACTIONS FOR INTERCONNECTED MULTI-AGENT CONTROL SYSTEMS*...... 15810 Dimitris Boskos, Dimos V. Dimarogonas

MULTI-AGENT MOTION PLANNING AND OBJECT TRANSPORTATION UNDER HIGH LEVEL GOALS*...... 15816 Christos K. Verginis, Dimos V. Dimarogonas

CONTROL REFINEMENT FOR DISCRETE-TIME DESCRIPTOR SYSTEMS: A BEHAVIOURAL APPROACH VIA SIMULATION RELATIONS...... 15822 F. Chen, S. Haesaert, A. Abate, S. Weiland

DECENTRALIZED DATA-DRIVEN CONTROL OF COOPERATING SENSOR-CARRYING UAVS IN A MULTI-OBJECTIVE MONITORING SCENARIO*...... 15828 Juliane Euler, Oskar Von Stryk

STABLE ADMITTANCE CONTROL WITHOUT INVERSE KINEMATICS ...... 15835 Adolfo Perrusquía, Wen Yu, Alberto Soria, Rogelio Lozano

MASSIVE RAILWAY OPERATING DATA VISUALIZATION; A TOOL FOR RATP OPERATING EXPERT...... 15841 Vincent Dimanche, Alban Goupil, Alexandre Philippot, Bernard Riera, Alain Urban, Gérard Gabriel

A CYBERNETIC ANALYSIS OF MAXIMUM UNNOTICEABLE ADDED DYNAMICS FOR DIFFERENT BASELINE CONTROLLED SYSTEMS ...... 15847 I. Matamoros, T. Lu, M. M. Van Paassen, D. M. Pool

EXPERIMENTAL SCHEDULING FUNCTIONS FOR GLOBAL LPV HUMAN CONTROLLER MODELING ...... 15853 R. F. M. Duarte, D. M. Pool, M. M. Van Paassen, M. Mulder

A ROS-INTEGRATED API FOR THE KUKA LBR IIWA COLLABORATIVE ROBOT*...... 15859 Saeid Mokaram, Jonathan M. Aitken, Uriel Martinez-Hernandez, Iveta Eimontaite, David Cameron, Joe Rolph, Ian Gwilt, Owen McAree, James Law

A MULTIVARIATE SYMBOLIC APPROACH TO ACTIVITY RECOGNITION FOR WEARABLE APPLICATIONS...... 15865 M. Terzi, A. Cenedese, G. A. Susto

MODEL PREDICTIVE CONTROL FOR FORCE CONTROL IN MILLING ...... 15871 S. Stemmler, D. Abel, M. Schwenzer, O. Adams, F. Klocke

DECENTRALIZED CONTROL OF DYNAMIC SUPPLY CHAIN SYSTEMS WITH PARAMETRIC UNCERTAINTIES...... 15877 Koussaila Hamiche, Hassane Abouaïssa, Gilles Goncalves, Tienté Hsu

SMART MANUFACTURING SYSTEMS BASED ON CYBER-PHYSICAL MANUFACTURING SERVICES (CPMS) ...... 15883 Yan Lu, Feng Ju

A DISTRIBUTED APPROACH SOLVING PARTIALLY FLEXIBLE JOB-SHOP SCHEDULING PROBLEM WITH A Q-LEARNING EFFECT...... 15890 W. Bouazza, Y. Sallez, B. Beldjilali

A SEMANTIC RECONCILIATION VIEW TO SUPPORT THE INTEROPERABLE INFORMATION RELATIONSHIPS IN PRODUCT DESIGN AND MANUFACTURING ...... 15896 Anderson L. Szejka, Osiris Canciglieri Junior, Hervé Panetto, Alexis Aubry, Eduardo F. Rocha Loures

PLUG-AND-SIMULATE WITHIN MODULAR ASSEMBLY LINE ENABLED BY DIGITAL TWINS AND THE USE OF AUTOMATIONML...... 15904 Jumyung Um, Stephan Weyer, Fabian Quint

INTEGRATING PROCESS SAFETY CONSIDERATIONS IN LYAPUNOV-BASED MODEL PREDICTIVE CONTROL ...... 15910 Fahad Albalawi, Helen Durand, Anas Alanqar, Panagiotis D. Christofides

FRAMEWORK FOR COMBINED DIAGNOSTICS, PROGNOSTICS AND OPTIMAL OPERATION OF A SUBSEA GAS COMPRESSION SYSTEM *...... 15916 Adriaen Verheyleweghen, Johannes Jäschke

INCIPIENT ACTUATOR FAULT HANDLING IN NONLINEAR MODEL PREDICTIVE CONTROL...... 15922 Brage Rugstad Knudsen, Timm Faulwasser, Colin N. Jones, Bjarne Foss

FORECAST-TRIGGERED FAULT-TOLERANT MODEL PREDICTIVE CONTROL OF NONLINEAR PROCESSES*...... 15928 Da Xue, Nael H. El-Farra

STOCHASTIC NONLINEAR MODEL PREDICTIVE CONTROL WITH ACTIVE MODEL DISCRIMINATION: A CLOSED-LOOP FAULT DIAGNOSIS APPLICATION ...... 15934 Tor Aksel N. Heirung, Ali Mesbah

SOLUTION TECHNIQUES FOR MULTI-LAYER MPC-BASED CONTROL STRATEGIES ...... 15940 Juraj Holaza, Martin Klauco, Michal Kvasnica

LYAPUNOV BASED 3D PATH FOLLOWING KINEMATIC CONTROLLER FOR A FIXED WING UAV*...... 15946 I. Lugo-Cárdenas, S. Salazar, R. Lozano

ROBUST CONTROL OF A TANDEM HELICOPTER WITH VARIABLE PAYLOAD ...... 15952 F. Laliberté, D. Saussié

EVENT-TRIGGERED MODEL PREDICTIVE CONTROL FOR TARGET TRACKING WITH ANGLES- ONLY MEASUREMENTS ...... 15959 Nicolas Merlinge, Héléne Piet-Lahanier, Karim Dahia

MOTION CUEING ALGORITHM FOR HIGH PERFORMANCE DRIVING SIMULATOR USING YAW TABLE...... 15965 Z. Fang, M. Tsushima, E. Kitahara, N. Machida, D. Wautier, A. Kemeny

ADVANCED VEHICLE STATE ESTIMATION: A TUTORIAL AND COMPARATIVE STUDY...... 15971 Jay A. Farrell, Paul F. Roysdon

USING PROGRESS SETS ON NON-DETERMINISTIC TRANSITION SYSTEMS FOR MULTIPLE UAV MOTION PLANNING*...... 15977 Paul Rousse, Pierre-Jean Meyer, Dimos V. Dimarogonas

DISTRIBUTED PATH PLANNING FOR CONTROLLING A FLEET OF UAVS : APPLICATION TO A TEAM OF QUADROTORS*...... 15983 A. Belkadi, H. Abaunza, L. Ciarletta, P. Castillo, D. Theilliol

ALTITUDE CONTROL FOR AN INDOOR BLIMP ROBOT ...... 15990 Yue Wang, Gang Zheng, Denis Efimov, Wilfrid Perruquetti

REACTIVE MPC FOR AUTONOMOUS MAV NAVIGATION IN INDOOR CLUTTERED ENVIRONMENTS: FLIGHT EXPERIMENTS ...... 15996 Julien Marzat, Sylvain Bertrand, Alexandre Eudes, Martial Sanfourche, Julien Moras

VISUAL MARKER BASED MULTI-SENSOR FUSION STATE ESTIMATION* ...... 16003 Jose Luis Sanchez-Lopez, Victor Arellano-Quintana, Marco Tognon, Pascual Campoy, Antonio Franchi

A NEW BRAIN EMOTIONAL LEARNING SIMULINK® TOOLBOX FOR CONTROL SYSTEMS DESIGN *...... 16009 João Paulo Coelho, Tatiana M. Pinho, José Boaventura-Cunha, Josenalde B. De Oliveira

SOFTWARE DEMONSTRATION OF QUASI ON LINE PARAMETRIC IDENTIFICATION RELATED TO THERMAL STATE IN TOKAMAK PLASMAS...... 16015 L. Attar, L. Perez, E. Moulay, R. Nouailletas, S. Bremond, L. Autrique

A DEMONSTRATOR OF AN ETHERNET BASED EMBEDDED NETWORK IN SPACE LAUNCHERS ...... 16021 Dorine Petit, Jean-Philippe Georges, Thierry Divoux, Bruno Regnier, Philippe Miramont

PROTOTYPING OF EMG-CONTROLLED PROSTHETIC HAND WITH SENSORY SYSTEM* ...... 16027 Ivan I. Borisov, Olga V. Borisova, Sergei V. Krivosheev, Roman V. Oleynik, Stanislav S. Reznikov

TIME-OPTIMAL CONTROL FOR BILINEAR NONNEGATIVE-IN-CONTROL SYSTEMS: APPLICATION TO MAGNETIC MANIPULATION * ...... 16032 Jirí Zemánek, Sergej Celikovský, Zdenek Hurák

GLOBAL STABILIZATION FOR A CLASS OF NONLINEAR SYSTEMS WITH TIME DELAYS VIA SAMPLED-DATA OUTPUT FEEDBACK*...... 16040 Xiaohong Wang, Haibo Du, Shihua Li, Xingpeng Zhou

Author Index