Progress in Systems and Control Theory

Volume 4
Series Editor
Christopher I. Byrnes, Washington University
Associate Editors
S.-1. Amari, University of Tokyo, Japan
B.D.O. Anderson, Australian National University, Canberra, Australia
Karl J. AstrOm, Lund Institute of Technology, Lund, Sweden
Jean-Pierre Aubin, CEREMADE, Paris, France
H.T. Banks, University of Southern California, Los Angeles, California
John S. Baras, University of Maryland, College Park, Maryland
A. Bensoussan, INRIA, Paris, France
John Bums, Virginia Polytechnic Institute, Blacksburg, Virginia
Han-Fu Chen, Beijing University, People's Republic of China
M.H.A. Davis, Imperial College of Science and Technology, London,
England
Wendell Fleming, Brown University, Providence, Rhode Island
Michel Riess, CNRS-ESE, Gif-sur-Yvette, France
Keith Glover, University of Cambridge, Cambridge, England
D. Hinrichsen, University of Bremen, Federal Republic of Germany
Alberto Isidori, University of Rome, Italy
B. Jakubczyk, Academy of Sciences, Warsaw, Poland
Hidenori Kimura, Osaka University, Japan
Arthur Krener, University of California, Davis
H. Kunita, Kyushu University, Japan
Alexandre Kurzhansky, IIASA, Laxenburg, Austria
Harold M. Kushner, Brown University, Providence, Rhode Island
Anders Lindquist, Royal Institute of Technology, Stockholm, Sweden
Andrzej Manitius, George Mason University, Fairfax, Virginia
Clyde F. Martin, Texas Tech University, Lubbock, Texas
Sanjoy Mitter, Massachusetts Institute of Technology, Cambridge,
Massachusetts
Giorgio Picci, LADSEB-CNR, Padova, Italy
Boris Pshenichnyj, Glushkov Institute of Cybernetics, Kiev
H.J. Sussmann, Rutgers University, New Brunswick, New Jersey
T.J. Tam, Washington University, St. Louis, Missouri
V.M. Tikhomirov, Institute for Problems in Mechanics, Moscow
Pravin P. Varaiya. University of California. Berkeley
Jan C. Willems. University of Groningen, The Netherlands
W.M. Wonham. University of Toronto
M.A. Kaashoek
I.H. van Schuppen
A.C.M. Ran
Editors
Robust Control of Linear Systems
and Nonlinear Control
Proceedings of the International
Symposium MTNS-89, Volume II
1990
Birkhauser
Boston . Basel . Berlin
M.A. Kaashoek I.H. van Schuppen
Faculteit Wiskunde en Informatica
Vrije Universiteit
Centre for Mathematics & Computer Science
P.O. Box 4079
De Boelelaan 1081 1009 AB Amsterdam. The Netherlands
1081 HV Amsterdam. The Netherlands
A.C.M. Ran
Faculteit Wiskunde en Informatica
Vrije Universiteit
De Boelelaan 108l
1081 HV Amsterdam. The Netherlands
Library of Congress Cataloging-in-Publication Data
Proceedings of the International Symposium MTNS-89 1 M.A. Kaashoek.
J.H. van Schuppen. A.C.N. Ran. editors.
p. cm. - (Perspectives in control theory ; v. 3-5)
"The 1989 International Symposium on the Mathematical Theory of
Networks and Systems (MTNS) ... held in Amsterdam. The Netherlands.
June 19-23.
Contents : v. 1. Realization and modelling in system theory - v.
2. Robust control of linear systems and nonlinear control - v.
3. Signal processing. scattering and operator theory. and numerical
methods.
1. System analysis-Congresses. 2. Control theory-Congresses.
I. Kaashoek. M. A. II. Schuppen. J. H. van. m. Ran. A. C. M.
IV. International Symposium on the Mathematical Theory of Networks
and Systems (9th : 1989 : Amsterdam. Netherlands) V. Series.
QA402.P766 1990
003-dc20 90-1003
CIP
Printed on acid-free paper.
Birkhauser Boston, 1990
Softcover reprint of the hardcover 1st edition 1990
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 other-
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ISBN-13:978-1-4612-8839-8
DOl: 10.1007/978-1-4612-4484-4
e-ISBN-13:978-1-4612-4484-4
Camera-ready text provided by the individual authors.
9 8 7 654 3 2 1
Preface
This volume is the second of the three volume publication containing
the proceedings of the 1989 International Symposium on the Mathemat-
ical Theory of Networks and Systems (MTNS-89), which was held in
Amsterdam, The Netherlands, June 19-23, 1989
The International Symposia MTNS focus attention on problems from
system and control theory, circuit theory and signal processing, which,
in general, require application of sophisticated mathematical tools, such
as from function and operator theory, linear algebra and matrix theory,
differential and algebraic geometry. The interaction between advanced
mathematical methods and practical engineering problems of circuits,
systems and control, which is typical for MTNS, turns out to be most
effective and is, as these proceedings show, a continuing source of
exciting advances.
The second volume contains invited papers and a large selection of
other symposium presentations in the vast area of robust and nonlinear
control. Modern developments in robust control and H-infinity theory,
for finite as well as for infinite dimensional systems, are presented. A
large part of the volume is devoted to nonlinear control. Special atten-
tion is paid to problems in robotics. Also the general theory of nonlinear
and infinite dimensional systems is discussed. A couple of papers deal
with problems of stochastic control and filterina.
vi
Preface
The titles of the two other volumes are: Realization and Modelling in
System Theory (volume 1) and Signal Processing, Scattering and
Operator Theory, and Numerical Methods (volume 3).
The Editors are most grateful to the about 300 reviewers for their help
in the refereeing process. The Editors thank Ms. G. Bijleveld and Ms.
L.M. Schultze for their professional secretarial assistance, and Mr. K.
van 't Hoff for his programming support.
M.A. Kaashoek
J.H. van Schuppen
A.C.M. Ran
Amsterdam
February 1990
Contents
INVITED PAPERS
Nonlinear H.infinity control theory: A literature survey
J.A. Ball, J.W. Helton
Primitives for robot control
D.C. Deno, R.M. Murray, K.S.J. Pister, S.S. Sastry
Optimal frequency design vs. an area of several complex variables
J.W. Helton
Feedback stabilization of nonlinear systems
E.D. Sontag
MULTIVARIABLE FEEDBACK
A monotonicity result for the periodic Riccati equation
S. Bittanti, P. Colaneri
1
13
33
61
83
viii
Results on generalized Riccati equations arising in stochastic control 95
C.E. de Souza, M.D. Fragoso
LQ-Problem: The discrete-time time-varying case lO3
J.e. Engwerda
The output -stabilizable subspace and linear optimal control 113
A.H.W. Geerts, M.L.J. Hautus
The decomposition of (A, B) invariant subs paces and its application 121
Han Zheng-zhi, Zhang Zhong-jun, Zheng Yu-Fan
The set of feedback matrices that assign the poles of a system 129
Hu Ting Shu, Shi Song-Jiao
Model matchingfor linear Hamiltonian systems 135
H.J.e. Huijberts
Connective stabilization of large-scale systems: A stable factorization 143
approach
M. Ikeda, Hsiang-Ling Tan
Riccati equations, algebras, and invariant systems 151
H. C. Myung, A.A. Sagle
Maximal order reduction ofproper transfer function matrices 159
T.J. Owens
The matching condition and feedback controllability of uncertain linear sys- 177
tems
I.R. Petersen
Convergence properties of indefinite linear quadratic problems with receding 189
horizon
H. Trentelman, J.M. Soethoudt
ROBUST CONTROL
Generalized stability of linear singularly perturbed systems including calcula- 197
tion of maximal parameter range
E.H. Abed, L. Saydy, A.L. Tits
ix
Convex combinations of Hurwitz functions and its applications to robustness 205
analysis
Y.K. Foo, Y.C. Soh
Designing strictly positive real transfer function families: A necessary and 215
sufficient condition for low degree and structured families
c.y. Hollot, Lin Huang, Zhong-Ling Xu
Quadratic stabilizability of linear systems with structural independent time 229
varying uncertainties
Kehui Wei
A finite zero exclusion principle 239
A. Rantzer
Design of controller with asymptotic disturbance attenuation 247
K. Uchida, M. Fujita, E. Shimemura
H-INFINITY CONTROL
Gas turbine control using mixed sensitivity H-infinity optimisation
D. Biss, K. Woodgate
Nonlinear H-infinity Theory
C. Foias, A. Tannenbaum
A J-spectralfactorization approach to H-infinity control
M. Green, J. Doyle, K. Glover, D.J.N. Limebeer
Vector interpolation, H-infinity control and model reduction
M. Green, D.J.N. Limebeer
Sensitivity minimization and robust stabilization by stable controller
S. Hara, M. Yidyasagar
Conjugation and H-infinity control
H. Kimura
Necessary and sufficient conditions for the existence of H-infinity controll-
ers: An interpolation approach
D.J.N. Limebeer, E.M. Kasenally
255
267
277
285
293
301
309
x
On H-infinity contro' LQG control and minimum entropy
D. Mustafa
Optimal H-infinity SISO-controllers with structural constraints
S. Pohjolainen
Super optimal H -infinity design
I. Postlethwaite, D.W. Gu, M.C. Tsai
H -infinity control with state feedback
AA. Stoorvogel
ADAPTIVE CONTROL
317
329
339
347
Convergence analySiS of self-tuning controllers by Bayesian embedding 355
P.R. Kumar
On bounded adaptive control with reduced prior knowledge 361
R. Ortega, L. Praly, Yu Tang
Indirect techniques for adaptive input output linearization of nonlinear sys- 369
tems
A. Teel, R. Kadiyala, P.V. Kokotovic, S.S. Sastry
STOCHASTIC CONTROL AND FILTERING
Interpolation approach to the H-infinity filter problem
D. Ho, A. Elsayed, M.J. Grimble, U. Shaked
Stochastic disturbance decoupling
H. Inaba, N. Otsuka
387
397
Discrete-time filtering for linear systems in correlated noise with non- 407
Gaussian initial conditions: Formulas and asymptotics
R.B. Sowers, A.M. Makowski
NONLINEAR CONTROL
Boundary feedback stabilization of distributed parameter systems 421
C.I. Byrnes, D.S. Gilliam
Optimal nonlinear feedback system design for a general tracking problem 429
Guanrong Chen, R.J.P. de Figueiredo
xi
Stability theory for differential! algebraic systems with application to power 437
systems
D.J. Hill, l.M.Y. Mareels
Feedback equivalence of planar systems and stabilizability 447
B. Jakubczyk, W. Respondek
Topological dynamics of discrete-time systems 457
J. Tsinias, N. Kalouptsidis, St. Kotsios
Another approach to the local disturbance decoupling problem with stability 465
for nonlinear systems
L.L.M. van der Wegen
Stabilization of nonlinear systems and coprime factorization 473
M.S. Verma, Tho Pham
OBSERVABILITY AND IDENTIFICATION OF NONLINEAR SYSTEMS
Identification of linear systems via Prony's method 483
G. Ammar, Daizhan Cheng, W. Dayawansa, C. Martin
On observability of chaotic systems: an example 489
G.B. Di Masi, A. Gombani
Interpolating uniquely with only a finite class of polynomials 497
A. DeStefano, P. Kostelec, D.l. Wallace
Sinc approximation method for coefficient identification in parabolic systems 507
J. Lund
Observability and Harish-Chandra Modules 515
J. Wolf
ROBOTICS
Modelling and nonlinear control of an overhead crane
B. d'Andrea-Novel, J. Levine
On adaptive linearizing control of omnidirectional mobile robots
G. Campion, G. Bastin
523
531
xii
Robot control via nonlinear observer 539
C. Canudas de Wit, K.J. Astrom, N. Fixot
Modelling and simulation of flexible beams using cubic splines and zero- 553
order holds
S. Dancose, J. Angeles
Towards a differential topological classification of robot manipulators 567
K. Tchoil
An adaptive PD control algorithm for robots 577
P. Tomei
ROBUSTNESS OF INFINITE-DIMENSIONAL SYSTEMS
Comparison of robustness measures for a flexible structure
J. Bontsema, J.T. van der Vaart
585
Robust stabilization for infinite-dimensional linear systems using normalized 593
co-prime factorizations
R.F. Curtain
Standard problem for distributed systems
C. Foias, A. Tannenbaum
Robust stabilization of delay systems
K. Glover, J.R. Partington
601
613
Topological aspects of transfer matrices with entries in the quotient field of 621

M.L.J. Hautus, S.Q. Zhu
On the Nyquist criterion and robust stabilization for infinite-dimensional 631
systems
H. Logemann
Real stability radii for infinite dimensional systems 639
A.J. Pritchard, S. Townley
Robust stabiliry condition for infinite-dimensional systems with internal 651
exponential stabiliry
Y. Yamamoto, S. Hara
CONTRIBurORS TO VOLUME 2
E.H. Abed
Dept. of Electrical Engineering, University of Maryland. College Park,
MD 20742, U.S.A.
G.Ammar
Department of Mathematics, Northern Illinois University, DeKalb, IL
60115, U.S.A.
B. d'Andrea-Novel
CAli Automatique, Ecole Nationale des Mines de Paris. 35 rue St.
Honore, F-77305 Fontainebleau, France
J. Angeles
Department of Mechanical Engineering, McGill University, 3840 Univer-
sity Street, Montreal, Quebec H3A 2A7, Canada
KJ. AstrOm
Department of Automatic Control, Lund Institute of Technology, Box
118, S-22100 Lund, Sweden
J.A. Ball
Virginia Polytechnic Institute Department of Mathematics, Virginia State
University, Blacksburg VA-24861, U.S.A.
G. Bastin
Laboratoire d' Automatique, Universite Catholique de Louvain, Place
Sainte-Barbe 2, B-1348 Louvain-la-Neuve, Belgium
D. Biss
Roche Products Ltd., DaIry, Ayrshire KA24 5JJ, United Kingdom
S. Bittanti
Dipartimento di Elettronica, Politecnico di Milano, Piazza Leonardi Da
Vinci 32, 1-20133 Milano, Italy
J. Bontsema
Mathematisch Instituut, RUG - Rijksuniversiteit Groningen, Postbus
800, 9700 AV Groningen, The Netherlands
xiv
C/. Byrnes
Department of Systems Science and Mathematics, Washington Univer
sity, Box 1040, St. Louis, MO 63130, U.S.A.
G. Campion
Laboratoire d' Automatique, Universite Catholique de Louvain, Place
Sainte-Barbe 2, B-1348 Louvain-la-Neuve, Belgium
C Canudas de Wit
LAG-ENSIEG-INPG, B.P. 46, 38402 Saint-Martin-d'Heres, France
Daizhan Cheng
Department of Mathematics, Texas Technical University, Lubbock, TX
79409, U.S.A.
P. Co/aneri
Departimento di Elettronica, Politecnico di Milano, 20133 Milano, Italy
R.F. Curtain
Mathematisch Instituut, RUG - Rijksuniversiteit Groningen, Postbus
800, 9700 A V Groningen, The Netherlands
S. Dancose
Dept. of Mechanical Engineering, McGill University, 3840 University
Street, Montreal, Quebec H3A 2A 7, Canada
W. Dayawansa
Department of Mathematics, Texas Technical University, Lubbock, TX
79409, U.S.A.
D.C. Deno
Department EECS, University of California, Berkeley CA 94720, U.S.A.
J. Doyle
California University of Technology, Caltech 116-81, Pasadena, CA
91125, U.S.A.
A. Elsayed
Department of Electrical and Control Engineering, Industrial Control
Unit, 204 George Street, Glasgow G 1 IXW, United Kingdom
J. C. Engwerda
Faculteit der Economische Wetenschappen, Katholieke Universiteit Bra-
bant, Postbus 90153,5000 LE Tilburg, The Netherlands
xv
R.J.P. Figueiredo
Dept. of Electrical and Computer Engineering, Rice University, Houston,
TX 77251, U.S.A.
N. Fixot
Laboratoire d'Automatique, ENSIEG-INPG, B.P. 46, F-38402 Saint-
Martin-d'Heres, France
C. Foias
Department of Mathematics, Indiana University, Bloomington, IN
47405, U.S.A.
Y.K. Foo
School of Electrical and Electronic Engineering, Nanyang Technological
Institute, Nanyang Avenue, Singayore 2263, Singapore
M.D. Fragoso
Dept. of Research and Development, National Laboratory for Scientific
Computation - LNCC/CNPq, Rua Lauro Muller, 455, 22.290, Rio de
Janeiro, Brasil
M. Fujita
Dept. of Electrical and Computer Engineering, Kanazawa University,
Kodatsuno 2-40-20, Kanazawa 920, Japan
A.H. W. Geerts
Faculteit der Wiskunde en Informatica, TUE - Technische Universiteit
Eindhoven, Postbus 513, 5600 MB Eindhoven, The Netherlands
D.S. Gilliam
Department of Mathematics, Texas Technical University, Lubbock, TX
79409, U.S.A.
K. Glover
Department of Engineering, University of Cambridge, Trumpington
Street, Cambridge CB2 IPZ, United Kingdom
A. Gomban;
LADSEB - CNR, Corso Stati Uniti 4, 1-35020 Padova, Italy
M. Green
Department Electrical Engineering, Imperial College of Science and
Technology, London SW7 2BT, United Kingdom
xvi
M.J. Grimble
Department of Electrical and Control Engineering, Industrial Control
Unit, 204 George Street, Glasgow GI IXW, United Kingdom
D.W.Gu
Dept. of Engineering Science, University of Oxford, Oxford OXl 3PJ,
United Kingdom
Guanrong Chen
Dept. of Electrical and Computer Engineering, Rice University, Houston,
TX 77251, U.S.A.
Han Zheng-zhi
Department of Automatic Control, Shanghai Jiao-Tong University,
Shanghai 200030, People's Republic of China
s. Hara
Dept. of Control Engineering, Tokyo Institute of Technology, Tokyo 152,
Japan
M.LJ. Hautus
Faculteit der Wiskunde, TUE - Technische Universiteit Eindhoven,
Postbus 513, 5600 MB Eindhoven, The Netherlands
J. WHelton
Department of Mathematics, University of California, San Diego, CA
92110, U.S.A.
D.J. Hill
Dept. of Elect. Eng. & Computer Science, University of Newcastle, Ran-
kin Drive, 2308 Newcastle, N.S.W., Australia
D.Ho
Department of Applied Mathematics, City Polytechnic of Hong Kong,
Hong Kong, Hong Kong
c. V. Hollot
Dept. of Electrical and Computer Engineering, University of
Massachusetts, Amherst, MA 01003, U.S.A.
Hu Ting Shu
Department of Automatic Control, Shanghai Jiao-Tong University,
Shanghai, People's Republic of China
xvii
II.J.e. Huijberts
Faculteit der Toegepaste Wiskunde, UT - Universiteit Twente, Postbus
217,7500 AE Enschede, The Netherlands
M. Ikeda
Department of Systems Engineering, Kobe University, Rokkodai Nada,
Kobe 657, Japan
H. Inaba
Department of Information Sciences, Tokyo Denki University
Hatoyama-Mach, HOO Gun, Saitama 350-03, Japan
B. Jakubczyk
Institute of Mathematics, Polish Academy of Sciences, Sniadeckich 8,
00-950 Warsaw, Poland
R. Kadiyala
Department EECS, University of California, Berkeley CA 94720, U.S.A.
N. Kalouptsidis
Dept. of Physics, University of Athens, Panepiotimiopoli, 15771 Athens,
Greece
E.M. Kasenal{y
Department of Electrical Engineering, Imperial College of Science and
Technology, Exhibition Road, London SW7 2BT, United Kingdom
Kehui Wei
DFVLR, Oberpfaffenhofen, D-8031 Wessling, B.R.D.
H. Kimura
Department of Mechanical Engineering, Osaka University, Suita 2-1
Yamada-oka, Osaka 565, Japan
P. V. Kokotovic
Coordinated Science Laboratory, University of Illinois. 1101 W.
Springfield, Urbana, IL 61801, U.S.A.
P. Kostelec
Department of Mathematics, Darmouth College, Hannover, NH 03755,
U.S.A.
St. Kotsios
Department of Physics, University of Athens, 157 71 Athens, Greece
xviii
P.R. Kumar
Coordinated Science Laboratory, University of Illinois, 1101 W. Spring-
field Avenue, Urbana, IL 61801, U.S.A.
]. Levine
CAl! Automatique, Ecole Nationale des Mines de Paris, 35 Rue St.
Honore, F-77305 Fontainebleau, France
D.J.N. Limebeer
Department of Electrical Engineering, Imperial College of Science and
Technology, Exhibition Road, London SW7 2BT, United Kingdom
Lin Huang
Dept. of Electrical and Computer Engineering, University of Mas-
sachusetts, MA 01003 Amherst, U.S.A.
H. Logemann
Institut fuer Dynamische Systeme, Universitaet Bremen, Postfach 330
440, D-2800 Bremen 33, B.R.D.
].Lund
Dept. of Mathematics, Montana State University, Bozeman, MT 59717,
U.S.A.
A.M. Makowski
Department of Electrical Engineering, University of Maryland, College
Park, MD 20742, U.S.A.
I.M. Y. Mareels
Dept. of Elect. Eng. & Compo Sience, University of Newcastle, Rankin
Drive, Newcastle, N.S.W. 2308, Australia
C. Martin
Department of Mathematics, Texas Technical University, Lubbock, TX
79409, U.S.A.
G.B. di Mas;
LADSEB - CNR, Corso Stati Uniti 4, 1-35020 Padova, Italy
R.M. Murray
Department EECS, University of California, Berkeley CA 94720, U.S.A.
D. Mustafa
Department of Electrical Engineering L.LD.s., M.LT. - Massachusetts
Institute of Technology, Cambridge MA 02139, U.S.A.
xix
H.Myung
Department of Mathematics, University of Northern Iowa, Cedar Falls,
IA 50614, U.S.A.
R. Ortega
DEPFI-UNAM, Ciudad Universitaria, P.O. Box 70-256, 04510 Mexico,
D.F., Mexico
N. Otsuka
Department of Information Sciences, Hatoyama-Mach, Tokyo Denki
University, Hiki-Gun, Saitama 350-03, Japan
T.J. Owens
Dept. of Electrical Eng., BruneI University Uxbridge, Middlesex UB8
3PH, United Kingdom
J.R. Partington
Systems Engineering Department, Cambridge University, Trumpington
Street, CB2 IPZ Cambridge, United Kingdom .
l.R. Petersen
Department of Electrical Engineering, Australian Defence Force
Academy, University of New South Wales, Canberra ACT 2600, Aus-
tralia
K.S.J. Pister
Department EECS, University of California, Berkeley CA 94720, U.S.A.
S. Pohjo/ainen
Dept. of Mathematics, Tampere University of Technology, P.O. Box 527,
SF-33lOI Tampere lO, Finland
l. Postlethwaite
Department of Engineering, University of Leicester, Leicester LEI 7RH,
United Kingdom
L Praly
Centre d' Automatique et Informatique, ENSMP, 35 Rue St. Honore, F-
77305 Fontainebleau, France
A.J. Pritchard
Control Theory Centre, Mathematics Institute, University of Warwick,
CV4 7AL Coventry, United Kingdom
xx
A. Rantzer
Optimization and Systems Theory, Royal Institute of Technology, S-I00
44 Stockholm, Sweden
W. Respondek
Institute of Mathematics, Polish Academy of Sciences, Sniadeckic!1 8,
00-950 Warsaw, Poland
A.A. Sagle
Department of Mathematics, University of Hawaii-Hilo, Hilo, Hawaii
96720-4091, U.S.A.
S.S. Sastry
Dept. of Elect. Eng. & Computer Sci., University of California, Berkeley,
CA 94720, U.S.A.
L. Saydy
Dept. of Electrical Engineering, University of Maryland, College Park,
MD 20742, U.S.A.
U. Shaked
Dept. of Electronic Communications, Control and Computer Science, Tel
Aviv University, Ramat-Aviv, tel-Aviv, Israel
Shi Song-Jiao
Dept. of Automatic Control, Shanghai Jiao-Tong University, Shanghai,
People's Republic of China
E. Shimemura
Dept. of Electrical Engineering, Waseda University, Okubo 3-4-1, Shin-
juku, Tokyo 160, Japan
J. M. Soethoudt
Faculty of Mathematics & Computer Science, Technical University Ein-
dhoven, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
Y.c. Soh
School of Electrical & Electronic Eng., Nanyang Technological Institute,
Nanyang Avenue, 2263 Singapore, Singapore
E.D. Sontag
Department of Mathematics, Rutgers University, New Brunswick, NJ
08903, U.S.A.
xxi
C.E. de Souza
Dept. of Electrical and Computer Engineering, University of Newcastle,
New South Wales, 2308, Australia
R.B. Sowers
Dept. of Electrical Engineering, University of Maryland, College Park,
MD 20742, U.S.A.
A. de Stefano
Department of Mathematics, Darmouth Collef!e, NH 03755 Hannover,
U.S.A.
A.A. Stoorvoge/
Fac. Wiskunde en Informatica, TUE - Technische Universiteit Eindho-
ven, P.O.Box 513, 5600 MB Eindhoven, The Netherlands
Hsiang-Ling Tan
Dept. of Systems Engineering, Kobe University, Rokkodai, Nada, Kobe
657, Japan
A. Tannenbaum
Department of Electrical Engineering, Technion, Haifa 32000, Israel
K. Tchon
Institute of Engineering Cybernetics, Technical University of Wroclaw,
ul. Z. Janiszewskiego 11/17,50-372 Wroclaw, Poland
A. Tee/
Department EECS, University of California, Berkeley CA 94720, U.S.A.
ThoPham
Dept. of ECE, University of Texas, Austin, TX 78712, U.S.A.
A.L Tits
Dept. of Electrical Engineering, University of Maryland, College Park.
MD 20742, U.S.A.
P. Tomei
Dipartimento di lngegneria Elettronica, Seconda Universita di Roma
'Tor Vergata', Via O. Raimondo, 00173 Roma, Italy
S. Townley
Control Theory Centre Mathematics Institute, University of Warwick,
CV4 7AL Coventry, United Kingdom
xxii
H. Trentelman
Faculteit Wiskunde en Informatica, TUE - Technische Universiteit Ein-
dhoven, Postbus 513, 5600 MB Eindhoven, The Netherlands
M.e. Tsai
Dept. of Engineering, University of Leicester, Leicester LEI 7RH, United
Kingdom
J. Tsinias
Dept. of Mathematics, National Technical University, Zografou Campus,
15773 Athens, Greece
K Uchida
Dept. of Electrical Engineering, Waseda University, Okubo 3-4-1, Shin-
juku, Tokyo 160, Japan
J. T. van der Vaart
Faculteit Wiskunde, RUG - Rijksuniversiteit Groningen, Postbus 800,
9700 A V Groningen, The Netherlands
M.S. Verma
Dept. of ECE, University of Texas, Austin, TX 78712, U.S.A.
M. Vidyasagar
Dept. of Electrical Engineering, University of Waterloo, Waterlo, Ontario
N2L 3HI, Canada
D.I. Wallace
Department of Mathematics, Darmouth College, Hanover NH 03755,
U.S.A.
LLM. van der Wegen
Faculteit Toegepaste Wiskunde, UT - Universiteit Twente, Postbus 217,
7500 AE Enschede, The Netherlands
J.A. Wolf
Department of Mathematics, University of California, Berkeley, CA
94720, U.S.A.
K. Woodgate
Department of Electrical Engineering, University of Strathclyde, 204
George Street, Glasgow G 1 lXW, United Kingdom
xxiii
Y. Yamamoto
Dept. of Appl. Systems Science Faculty of Engineering, Kyoto Univer-
sity, Kyoto 606, Japan
Yu Tang
DEPFI-UNAM, Ciudad Universitaria, P.O. Box 70-256, 04510 Mexico,
D.F., Mexico
Zhang Zhong-jun
Dept. of Automatic Control, Shanghai Jiao-Tong University, Shanghai
200030, People's Republic of China
Zheng Yu-Fan
Dept. of Mathematics, East-China Normal University, 3663 Northern
Zhongshan Road, Shanghai 200062, People's Republic of China
Zhong-Ling Xu
Department of Electrical and Computer Engineering, University of Mas-
sachusetts, Amherst MA 01003, U.S.A.
S.Q. Zhu
Department of Mathematics and Computer Science, TUE - Technische
Universiteit Eindhoven. P.O. Box 513, 5600 MB Eindhoven, The
Netherlands