IMA Jour nal of M Contents

155 G. WU and J. ZHANG

Reliable passivity and passification for singular Markovian systems athematic 169 F. FU, M. HOU and G. DUAN Stabilization of quasi-one-sided Lipschitz nonlinear systems 185 M. DEFOORT and M. DJEMAÏ A Lyapunov-based design of a modified super-twisting algorithm for the al Control Heisenberg system

205 M. K. PATRA and S. L. BRAUNSTEIN Downloaded from https://academic.oup.com/imamci/issue/30/2 by guest on 29 September 2021 An algebraic framework for information theory: classical information and Information 239 Y. CHEN, S. FEI and K. ZHANG Stability analysis for discrete-time switched linear singular systems: average dwell time approach 251 C.-H. LIEN and K.-W. YU Switching signal design and passivity analysis for uncertain discrete switched systems with interval time-varying delay

265 G. WEN, Z. PENG, Y. YU and A. RAHMANI Planning and control of three-dimensional multi-agent formations June 2013 Number 2 Volume 30 IMA Journal of Mathematical Control and Information Editors pp. 155–284 S. Spurgeon and N. Karcanias Volume 30 Number 2 June 2013

Scan to view this journal on your mobile device

PRINT ISSN 0265-0754 ONLINE ISSN 1471-6887 Please visit the journal’s Website at www.imamci.oxfordjournals.org Printed in Great Britain by Bell & Bain, Glasgow, UK 2

1 Published for the Institute of Mathematics and its Applications by 1 IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION IMA Journal of Mathematical Control and Information is to provide an outlet for papers which are original and of high EDITORIAL BOARD quality in mathematical control theory, systems theory, and applied information sciences. Short papers and mathematical cor- respondence or technical notes will be welcome, although the primary function of the journal is to publish papers of substan- EDITORS tial length and coverage. The emphasis will be upon relevance, originality and clarity of presentation, although timeliness may S. Spurgeon, Department of Electronics, University of Kent, Canterbury, Kent, CT2 7NT, UK. N. Karcanias, Associate Dean for Research, Control Engineering Centre & Centre of Systems and Modelling School of Engineering and well be an important feature in accepatable papers. Speculative papers that suggest new avenues for research or potential Mathematical Sciences, City University, Northampton Square, EC1V 0HB. solu tions to unsolved problems of control and information theory will be particularly welcome. Specific application papers will ASSOCIATE EDITORS not normally be within the remit of the journal. Applications that illustrate techniques or theories will be acceptable. A prime F. Allgower, Institute for Systems Theory and Automatic Control University of Pfaffenwaldring 9, 70550, Stuttgart, . function of the journal is to encourage the interplay between control and information theory and other mathematical sciences D. Angeli, Department of , Imperial College, Exhibition Road, London SW7 2AZ, UK. through the publication of inter-disciplinary studies and the application of mathematical techniques to control and informa- A. Astolfi, Department of Electrical Engineering, Imperial College, Exhibition Road, London SW7 2AZ, UK. P. Caines, Department of Electrical Engineering, McGill University, McConnell Engineering Building, 3480 University Street, Montreal, tion systems problems. The journal will publish special issues on single major themes of particular relevance and timeliness P. Q., Canada H3A 2A7. and guest editors may be appointed for this purpose: suggestions for special issues and associated invited papers will be G. Conte, Dipartimento di Ingegneria Informatica, Gestionale e dell'Automazione, Università Politecnica delle Marche, via Brecce Bianche, welcomed by the editors. The journal will review appropriate books and provide information on major conferences and sym- 60131 Ancona, Italy. D. Coutinho, Department of Automation and Systems, Federal University of Santa Catarina (UFSC) Florianopolis, SCBrazil, CEP 88040-900, posia in mathematical control and information theory. Caixa Postal 476. All submitted papers will be judged on their merits by at least two referees and a full paper report will be available to E. Fridman, Department of Electrical Engineering and Systems, Tel Aviv University, Tel Aviv 69978, Israel. the intending authors. G. Halikias, School of Engineering & Mathematical Sciences, City University, Northampton Square, London EC1V 0HB, UK. P. Ioannou, Department of Electrical Engineering – Systems, EEB 200B Hughes Aircraft Electrical Engineering Building, 3740 McClintock Ave, University of Southern California (USC), Los Angeles, CA 90089-2562, USA. Editors: S. Spurgeon, Head of Department, Department of Engineering, University Road, Leicester LE1 7RH, UK; and N. N. Koussoulas, Department of Electrical and Computer Engineering, Centre for Research & Applications of Nonlinear Systems, Karcanias, Associate Dean for Research, Control Engineering Centre & Centre of Systems and Modelling School of Engineering and University of Patras, Rio Patras, GR-26500, Greece. Downloaded from https://academic.oup.com/imamci/issue/30/2 by guest on 29 September 2021 B. Kouvaritakis, Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ, UK. Mathematical Sciences, City University, Northampton Square, EC1V 0HB ([email protected]). M. Kuijper, Department of Electrical & Electronic Engineering, University of Melbourne, Melbourne 3010, Australia. J. Leventides, University of Athens, Pezmazoglou 8, Athens, Greece. J. J. Loiseau, IRCCyN, UMR CNRS 6597, Ecole Centrale de Nantes, 1 rue de la Noë, Nantes, BP 92 101, 44321 France. Online submission to The IMA Journal of Mathematical Control and Information C. Moog, IRCCyN, UMR CNRS 6597, Ecole Centrale de Nantes, 1 rue de la Noë, Nantes, BP 92 101, 44321 France. S.-I. Niculescu, Laboratory of Signals and Systems (L2S, UMR CNRS 8506), CNRS-SUPELEC, 3 rue Joliot Curie, 91192, All material to be considered for publication in the IMA Journal of Mathematical Control & Information Gif-sur-Yvette, France. should be submitted, in electronic form, via the journal’s online submission system at: S. Omatu, Faculty of Engineering, Department of Electronics, Information and Communication Engineering. Osaka , 5-16-1 Omiya, Asahi-ku, Osaka, 535-8585, Japan. http://mc.manuscriptcentral.com/imamci Y. Orlov, Department of Electronics & Telecommunication, CICESE Mexican Research Center, Km. 107 Carretera Tijuana-Ensenada, Please read the instructions to authors which can be found by following the links at: Ensenada, 22860, Mexico. A. Poznyak, Dept. Control Automatico, CINVESTAV-IPN, AP-14-740, Av. IPN-2508, Col. San Pedro Zacatenco, CP-07000, Mexico D.F. Mexico. http://www.oxfordjournals.org/our_journals/imamci/for_authors/index.html C. Prieur, Gipsa-lab, Department of Automatic Control, Grenoble Campus, 11 rue des Mathématiques, BP 46, 38402 Saint Martin d’Hères The views expressed in the contributed articles are not necessarily those of the Institute of Mathematics and Cedex, France. its Applications. E. Punta, Institute of Intelligent Systems for Automation (ISSIA), Genoa, Italy. J. Rosenblueth, IIMAS-UNAM, Apartado Postal 20-726, México DF 01000, México. J. Rudolph, Chair of Systems Theory and Control Engineering, University Postfach 151150, 66041 Saarbrücken, Germany. J. M. A. Scherpen, Faculty of Mathematics and Natural Sciences, University of Groningen, ITM, Nijenborgh 4, 9747 AG Groningen, Netherlands. U. Shaked, School of Electrical Engineering, Tel-Aviv University, University Campus, Ramat Aviv, Tel Aviv 69978, Israel. M. C. Smith, Department of Engineering, University of Cambridge, Trumpington Street, Cambridge CB1 1PZ, UK. G. Tadmor, Electrical & Computer Engineering Department, Mathematics Department, Northeastern University, 360 Huntington Ave, Boston, MA 02115, USA. Y. Wang, School of Control Science and Engineering, Shandong University, 73, Jing-Shi Road, Jinan 250061, PR China. M. Zervos, Department of Mathematics, London School of Economics, Houghton Street, London WC2A 2AE, UK. Subscriptions: A subscription to IMA Journal of Mathematical Control and Information comprises 4 issues. All prices include postage, and for subscribers outside the UK delivery is by Standard Air. Annual Subscription Rate (Volume 30, 4 issues, 2013). Institutional: Print edition and site-wide online access: £414/$828/€623. Print edition only: £380/$759/€571 Site-wide online access only: £345/$690/€519. Personal: Print edition and individual online access: £362/$725/€545. Please note: US$ rate applies to US & Canada, Euros€ applies to Europe, UK£ applies to UK and Rest of World. There may by other subscription rates available, for a complete listing please visit www.imamci.oxfordjournals.org/subinfo. Full prepayment, in the correct currency, is required for all orders. Orders are regarded as firm and payments are not refundable. Subscriptions are accepted and entered on a complete volume basis. Claims cannot be considered more than FOUR months after publication or date of order, whichever is later. All subscriptions in Canada are subject to GST. Subscriptions in the EU may be subject to European VAT. If registered, please supply details to avoid unnecessary charges. For subscriptions that include online versions, a proportion of the subscription price may be subject to UK VAT. Personal rate subscriptions are only available if payment is made by personal cheque or credit card and delivery is to a private address. The current year and two previous yearsЈ issues are available from Oxford University Press. Previous volumes can be obtained from the Periodicals Service Company, 11 Main Street, Germantown, NY 12526, USA. Email: [email protected]. Tel: +1 (518) 537 4700. Fax: +1 (518) 537 5899. For further information, please contact: Journals Customer Service Department, Oxford University Press, Great Clarendon Street, Oxford OX2 6DP, UK. Email: [email protected]. Tel (and answerphone outside nor mal working hours): +44 (0)1865 353907. Fax: + 44 (0)1865 353485. In the US, please contact: Journals Customer Service Department, Oxford University Press, 2001 Evans Road, Cary, NC 27513, USA. Email: [email protected]. Tel (and answerphone outside normal working hours): 800 852 7323 (toll-free in USA/Canada). Fax: 919 677 1714. In Japan, please contact: Journals Customer Services, Oxford University Press, 4-5-10-8F Shiba, Minato-ku, Tokyo 108-8386, Japan. Email: [email protected]. Tel: +81 3 5444 5858. Fax: +81 3 3454 2929. Methods of payment. Payment should be made: by cheque (to Oxford University Press, Cashiers Office, Great Clarendon Street, Oxford, OX2 6DP, UK); by bank transfer (to Barclays Bank Plc, Oxford Office, Oxford (bank sort code 20-65-18) (UK); overseas only Swift code BARC GB22 (GB£ Sterling Account no. 70299332, IBAN GB89BARC20651870299332; US$ Dollars Account no. 66014600, IBAN GB27BARC20651866014699; EU€ EURO Account no. 78923655, IBAN GB16BARC20651878923655]; or by credit card (Mastercard, Visa, Switch or American Express). IMA Journal of Mathematical Control and Information [ISSN 0265-0754 (print) ISSN 1471-6887 (online)] is published quarterly by Oxford University Press, in March, June, September and December, on behalf of The Institute of Mathematics and its Applications, 16 Nelson Street, Southend-on-Sea, Essex SS1 1EF, UK. Annual subscription price is £414/$828/€545. IMA Journal of Mathematical Control and Information is distributed by Mercury International, 365 Blair Road, Avenel, NJ 07001, USA. Periodicals postage paid at Rahway, New Jersey and additional entry points. US Postmaster: send address changes to IMA Journal of Mathematical Control and Information, c/o Mercury International, 365 Blair Road, Avenel, NJ 07001, USA. Permissions. For information on how to request permissions to reproduce articles/information from this journal, please visit www.oxfordjournals.org/ permissions. Advertising. Inquiries about advertising should be addressed to: Advertising and Special Sales, Oxford Journals, Oxford University Press, Great Clarendon Street, Oxford, OX2 6DP, UK. Tel: +44 (0)1865 354767. Fax: +44 (0)1865 353774. E-mail: [email protected]. Disclaimer. Statements of fact and opinion in the articles in IMA Journal of Mathematical Control and Information are those of the respective authors and contributors and not of IMA Journal of Mathematical Control and Information or Oxford University Press. Neither Oxford University Press nor IMA Journal of Mathematical Control and Information make any representation, express or implied, in respect of the accuracy of the material in this journal and cannot accept any legal responsibility or liability for any errors or omissions that may be made. The reader should make his/her own evaluation as to the appropriate- ness or otherwise of any experimental techniques described. © Institute of Mathematics and Its Applications 2013 All rights reserved: no part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise without either the prior written permission of the Publishers, or a licence permitting restricted copying issued in the UK by the Copyright Licensing Agency Ltd, 90 Tottenham Court Road, London W1P 9HE, or in the USA by the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923.