Three Decades of Progress in Control Sciences Xiaoming Hu, Ulf Jonsson, Bo Wahlberg, and Bijoy K

Three Decades of Progress in Control Sciences Xiaoming Hu, Ulf Jonsson, Bo Wahlberg, and Bijoy K. Ghosh (Eds.) Three Decades of Progress in Control Sciences Dedicated to Chris Byrnes and Anders Lindquist ABC Prof. Dr. Xiaoming Hu Prof. Dr. Bo Wahlberg Optimization and Systems Theory Automatic control School of Engineering Sciences School of Electrical Engineering KTH – Royal Institute of technology KTH – Royal Institute of Technology Sweden Sweden E-mail: [email protected] E-mail: [email protected] Prof. Dr. Ulf Jonsson Prof. Dr. Bijoy K. Ghosh Optimization and Systems Theory Mathematics and Statistics Department School of Engineering Sciences Texas Tech University KTH – Royal Institute of technology Lubbock, Texas Sweden USA E-mail: [email protected] E-mail: [email protected] ISBN 978-3-642-11277-5 e-ISBN 978-3-642-11278-2 DOI 10.1007/978-3-642-11278-2 Library of Congress Control Number: 2010935850 c 2010 Springer-Verlag Berlin Heidelberg This work is subject to copyright. All rights are reserved, whether the whole or part of the mate- rial is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Dupli- cation of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable to prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover Design: Erich Kirchner, Heidelberg Printed on acid-free paper 987654321 springer.com Dedicated to Christopher I. Byrnes and Anders Lindquist for their lifelong contributions in Systems and Control Theory Christopher I. Byrnes Anders Lindquist Preface In this edited collection we commemorate the 60th birthday of Prof. Christopher Byrnes and the retirement of Prof. Anders Lindquist from the Chair of Optimization and Systems Theory at KTH. These papers were presented in part at a 2009 workshop in KTH, Stockholm, honoring the lifetime contributions of Professors Byrnes and Lindquist in various fields of applied mathematics. Outstanding in their fields of research, Byrnes and Lindquist have made signif- icant advances in systems & control and left an indelible mark on a long list of colleagues and PhD students. As co editors of this collection, we have tried to show- case parts of this exciting interaction and congratulate both Byrnes and Lindquist for their years of successful research and a shining career. About a quarter of a century ago, Anders Lindquist came to KTH to provide new leadership for the Division of Optimization and Systems Theory. In 1985 Chris spent his sabbatical leave at KTH, and the two of them organized the 7th Interna- tional Symposium on the Mathematical Theory of Networks and Systems (MTNS 85) at KTH that showcased both the field and a thriving academic division at the university and highlighted the start of a long lasting collaboration between the two. Chris Byrnes was recruited recently as a Distinguished Visiting Professor at KTH to continue what has now become a very successful research program, some results from which will be mentioned below. Chris Byrnes’s career began as a PhD student of Marshall Stone, from whom he learned that a good approach to doing research has to begin with an understanding of what makes the problem hard and must ultimately bring the right mixture of applied and pure mathematics techniques to bear on the problem. What is characteristic of his contributions is the unanticipated application of seemingly unrelated branches of pure mathematics. This was exhibited early in his career with the application of techniques from algebraic geometry to solve some long-standing open problems, such as pole-placement by output feedback, in classical linear control systems. In characteristic form, he made this seem understandable and inevitable because “the Laplace transform turns the analysis of linear differential systems into the algebra of rational functions.” In collaboration with Alberto Isidori, he helped transform modern nonlinear control systems using nonlinear dynamics and the geometry of manifolds, X Preface developing natural analogs of classical notions such as zeros (zero dynamics), min- imum phase systems, instantaneous gain and the steady-state response of a system in a nonlinear setting. Together with J. C. Willems, they further enhanced these con- cepts in terms of their relationship with passive (positive real) systems, i.e., nonlinear systems which dissipate energy. These enhancements of classical control were then used to develop feedback design methods for asymptotic stabilization, asymptotic tracking and disturbance rejection of nonlinear control systems, conceptualized in seemingly familiar terms drawn from classical automatic control. After receiving his PhD degree at KTH, in 1972 Anders Lindquist went to the Center for Mathematical Systems Theory at the University of Florida as a post doc with R. E. Kalman, followed by a visiting research position at Brown University. He became a full professor at the University of Kentucky in 1980 before returning to KTH in 1983. He has delivered fundamental contributions to the field of systems, sig- nals and control for almost four decades, especially in the areas of stochastic control, modeling, estimation and filtering, and, more recently, feedback and robust control. Anders has produced seminal work in the area of stochastic systems theory, often with a veritable sense for the underlying geometry of the problems. His contributions to filtering and estimation include the very first development of fast filtering algorithms for Kalman filtering and a rigourous proof of the separation principles for stochastic control systems. With Bill Gragg he wrote a widely cited paper on the partial realization problem that has gained considerable attention in the numerical linear algebra community. Together with Giorgio Picci (and coworkers) he developed a comprehensive geometric theory for Markovian representations that provides coordinate-free representations of stochastic systems, and that turned out to be an excellent tool for understanding the principles of the subspace algorithms for system identification developed later. Anders and Chris published their first joint paper in 1982 and have most recently published two joint articles in 2009 and numerous papers in between. Both Anders and Chris are grateful to have each found a research soul mate who gets excited about the same things. This has played a profound role in their mutual careers. As evidence of their successful collaboration, Anders and Chris, together with coworkers, have worked on the partial realization theory and developed a comprehensive geometric theory of the moment problem for rational measures. A major initial step was the final proof of a conjecture by Tryphon Georgiou on the rational covariance extension problem, formulated in the 1970s by Kalman, and left open for 20 years. This is now the basis of a progressive area of research, which has provided entirely new paradigms based on analytic interpolation and mathematical tools for solving key problems in robust control, spectral estimation, systems identification, and many other engineering problems. Xiaoming Hu, Ulf Jönsson and Bo Wahlberg, Bijoy K. Ghosh, Kungliga Tekniska Högskolan, Texas Tech University, Stockholm, Sweden. Lubbock, Texas, USA. Christopher I. Byrnes Christopher I. Byrnes received his doctorate in 1975 from University of Mas- sachusetts under Marshall Stone. He has served on the faculty of the University of Utah, Harvard University, Arizona State University and Washington University in St. Louis, where he served as dean of engineering and the The Edward H. and Florence G. Skinner Professor of Systems Science and Mathematics. The author of more than 250 technical papers and books, Chris received an Honorary Doctorate of Technol- ogy from the Royal Institute of Technology (KTH) in Stockholm in 1998 and in 2002 was named a Foreign Member of the Royal Swedish Academy of Engineering Sci- ences. He is a Fellow of the IEEE, two time winner of The George Axelby Prize and the recipient of the Hendrik W. Bode Prize. In 2005 he was awarded the Reid Prize from SIAM for his contributions to Control Theory and Differential Equations and in 2009 was named an inaugural Fellow of SIAM. He held hold the Giovanni Prodi Chair in Nonlinear Analysis at the University of Wuerzburg in the summer of 2009 and is spending the 2009-2012 academic years as Distinguished Visiting Professor at KTH. XII Christopher I. Byrnes Dissertation Students of Christopher I. Byrnes 1. D. Delchamps, “The Geometry of Spaces of Linear Systems with an Application to the Identification Problem”, Ph. D. , Harvard University, 1982. 2. P. K. Stevens, “Algebro-Geometric Methods for Linear Multivariable Feedback Systems”, Ph. D. , Harvard University, 1982. 3. B. K. Ghosh, “Simultaneous Pole Assignability of Multi-Mode Linear Dynami- cal Systems”, Ph. D. , Harvard University, 1983. 4. A. Bloch, “Least Squares Estimation and Completely Integrable Hamiltonian Systems”, Ph. D. , Harvard University, 1985. 5. B. Martensson (co-directed with K. J. Astr¨˚ om), “Adaptive Stabilization”, Ph. D. , Lund Institute of Technology, 1986. 6. P. Baltas (co-directed with P. E. Russell), “Optimal Control of a PV-Powered Pumping System”, Ph. D. , Arizona State University, 1987. 7. X. Hu, “Robust Stabilization of Nonlinear Control Systems”, Ph. D. , Arizona State University, 1989. 8. S. Pinzoni, “Stabilization and Control of Linear Time-VaryingSystems”, Ph. D. , Arizona State University, 1989. 9. X. Wang, “Additive Inverse Eigenvalue Problems and Pole-Placement of Linear Systems”, Ph. D. , Arizona State University, 1989. 10. J. Rosenthal, “Geometric Methods for Feedback Stabilization of Multivariable Linear Systems”, Ph.

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