IEEE CONFERENCE ON CONTROL APPLICATIONS IEEE SYMPOSIUM ON COMPUTER-AIDED CONTROL SYSTEMS DESIGN IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL FINAL PROGRAM AND BOOK OF ABSTRACTS October 4-6, 2006 Technical University Munich Germany 2006 CCA/CACSD/ISIC Operating Committee General Chair: Finance Chair: Andras Varga Ferdinand Svaricek DLR Oberpfaffenhofen Bundeswehr University, Munich Germany Germany [email protected] [email protected] CCA Program Chair: CCA Invited Session Chair: Martin Buss Mitsuji Sampei Technical University Munich Tokyo Institute of Technology Germany JAPAN [email protected] [email protected] CACSD Program Chair: CACSD Invited Session Chair: Christian Schmid Pieter J. Mosterman Ruhr University Bochum The MathWorks, Inc., Natick Germany USA [email protected] [email protected] ISIC Program Chair: ISIC Invited Session Chair: Derong Liu Jagannathan Sarangapani University of Illinois at Chicago University of Missouri – Rolla USA USA [email protected] [email protected] CSS Conference Editorial Board Chair: Publication Chair: Thomas Parisini Didier Henrion University of Trieste LAAS-CNRS, Toulouse Italy France [email protected] [email protected] Registration Chair: Registration Vice-Chair: Sandra Hirche Pradeep Misra Technical University Munich Wright State University, Dayton Germany USA [email protected] [email protected] CCA/CACSD Publicity Co-Chair: ISIC Publicity Co-Chair: Marco Lovera Chun-Yi Su Politecnico di Milano Concordia University Montreal Italy Canada [email protected] [email protected] Exhibits Chair: Local Arrangements Chair: Johann Reger Simon Hecker Bundeswehr University, Munich DLR Oberpfaffenhofen Germany Germany [email protected] [email protected] Workshop Chair: Student Paper Awards Chair: Vasile Sima Lalit K. Mestha ICI Bucharest Xeros Corporation, Webster NY Romania USA [email protected] [email protected] Welcome On behalf of the IEEE Control Systems Society, the Program and Operating Committees, and Technical Co-sponsors I would like to express my warmest welcome to all attendees of the Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC). The joint 2006 CCA/CACSD/ISIC multi-conference is sponsored by the IEEE Control Systems Society (CSS), and is organized in cooperation with the Japanese Society for Instrument and Control Engineers (SICE), and the European Union Control Association (EUCA). The 2006 CCA/CACSD/ISIC will be held Wednesday through Friday, October 4-6, 2006, at the Technical University of Munich, Germany. Munich, the state capital of Bavaria, is a well known economic hub and leisure center, focal point of art and culture, crossroads of history and modern times. The metropolis on the Isar River combines old Bavarian tradition and broad-minded openness toward the world, deep-rooted customs and dynamic innovation, sovereign composure and pulsating activity. The 2006 CCA/CACSD/ISIC is held just after the 2006 Oktoberfest, the most traditional and world famous Munich festival (September 16 – October 3). The Technical Program integrates CCA, CACSD and ISIC submissions into a single cohesive package while maintaining their individual identities. Thanks to our program chairs Martin Buss (CCA), Christian Schmid (CACSD) and Derong Liu (ISIC) we were able to accomplish this very successfully. The Technical Program includes 11 parallel tracks of sessions (7 for CCA, 2 for CACSD, 2 for ISIC) with 594 papers selected from 760 submissions (433 regular papers and 161 invited papers). The paper presentation sessions are framed each day by highly exciting plenary events: a plenary talk preceding the morning sessions and a keynote talk following the afternoon presentations organized by some of our industrial sponsors. The conference itself is preceded on Tuesday, October 3, 2006, by three full-day tutorial workshops. Industrial and publisher exhibits will be available throughout the conference. The joint 2006 CCA/CACSD/ISIC is being made possible because of the vital contributions of a great number of individuals. First, my sincere thanks go out to all authors, plenary and keynote speakers, and workshop organizers for enriching the technical content. I thank all the members of the Operating Committee: Program Chairs Martin Buss, Christian Schmid and Derong Liu, Invited Session Chairs Mitsuji Sampei, Pieter Mosterman, and Jagannathan Sarangapani, Workshops Chair Vasile Sima, Publicity Chairs Marco Lovera and Chun-Yi Su, Finance Chair Ferdinand Svaricek, Publications Chair Didier Henrion, Registration Chairs Sandra Hirche and Pradeep Misra, Exhibits Chair Johann Reger, Best Student Paper Award Chair Lalit K. Mestha, and Local Arrangements Chair Simon Hecker. Special thanks go to CSS Conference Editorial Board Chair Thomas Parisini and CSS Information Technology Chair Pradeep Misra for their sustained support in using PaperPlaza, a wonderful tool for conference organizers. I also want to thank the Control System Society for providing funds for travel support for students and participants from developing countries, and for sponsoring the CCA Best Student Paper Award. In the same vein, I thank The Mathworks, Inc. and the Automation & Robotics Research Institute, University of Texas at Arlington for sponsoring the CCA and ISIC Best Student Paper Awards. I look forward to seeing you at the joint 2006 CCA/CACSD/ISIC and encourage you to consider spending a few extra days to enjoy the many opportunities for outdoor and cultural activities. Andras Varga General Chair Table of contents CONFERENCE INFORMATION .......................................................................................... 1 Venue ..............................................................................................................................1 Registration ....................................................................................................................1 Proceedings ...................................................................................................................1 Exhibits ...........................................................................................................................1 Social program...............................................................................................................2 Internet access...............................................................................................................2 Lunch facilities...............................................................................................................2 Sightseeing tours...........................................................................................................2 BEST STUDENT PAPER AWARDS ..................................................................................... 3 TUTORIAL WORKSHOPS ................................................................................................. 4 PLENARY SESSIONS ...................................................................................................... 7 INTERNATIONAL PROGRAM COMMITTEES ....................................................................... 13 PROGRAM AT A GLANCE .............................................................................................. 14 BOOK OF ABSTRACTS ................................................................................................. 17 INDEX OF AUTHORS, CHAIRS AND ORGANIZERS ............................................................ 103 Conference Information 2006 CCA / CACSD / ISIC Conference information Venue The technical sessions of the conference will be hosted in the downtown campus of one of the foremost universities in Germany, the Technische Universität München (Technical University of Munich, TUM). In 2006, the TUM comprises in its three campuses, twelve faculties with about 20,000 students (of whom about 20% come from abroad), 440 professors and roughly 8,500 staff members. The TUM can trace back its origins to the Royal Polytechnic School founded by King Ludwig II in 1868. In 1970 it changed its name from Technische Hochschule München to Technische Universität München. TUM has since long time become a synonym for technological progress. Many outstanding TUM professors have secured their place in the history of technology, many important scientists, architects, engineers and entrepreneurs studied there. Such names as Karl Max von Bauernfeind, Rudolf Diesel, Claude Dornier, Walther von Dyck, Hans Fischer (Nobel prize for Chemistry, 1930), Ernst Otto Fischer (Nobel prize for Chemistry, 1973), August Föppl, Robert Huber (Nobel prize for Chemistry, 1988), Carl von Linde, Heinz Maier-Leibnitz, Walther Meissner, Rudolf Mössbauer (Nobel prize for Physics, 1961), Willy Messerschmitt, Wilhelm Nusselt, Hans Piloty, Friedrich von Thiersch, Franz von Soxhlet are closely connected with the TUM. The six plenary sessions of the conference will take place in the centrally situated Auditorium Maximum (Audimax). Its Foyer will host the Registration Desk, the Exhibits area and the Sightseeing Tours booking desk. The Welcome and Farwell Receptions will also take place in the Foyer of the Audimax. The conference rooms hosting the technical sessions are conveniently located around Audimax at short distances (see inside of back cover). Registration All conference attendees must be registered. The provided personal badges must be worn to identify registered