Handout 19: More about Dual-input describing functions- Limit cycle stability analysis Eric Feron April 16, 2004 Dual-input describing functions for Toggle switch Another servo-motor application

Handout 18: Dual-input describing functions Eric Feron April 5,2004 Dual-input describing functions are for mixed signals(sinusoid small constant signal) Approximating non-constant signals with constant ones

Handout 13: More about plants with right half-plane zeros Eric Feron March 15, 2004 Right half-plane zeros and sensor/actuator design Influence of sensor position on system dynamics: Star Market

Handout 12: Plants with right half-plane zeros Eric Feron March 15, 2004 The worst of all (but they exist)! Example: The Star Market vs. Home Depot dilemma Star Market cart: Casters mounted under cart front. used to steer cart rear deviation y from reference lane

Handout 8: Lead compensation Eric Feron March 1, 2004 Lead Compensation goals: Raise phase( gain) at high frequen cies while not touching low-frequency system's characteristics: Can extend bandwidth of system. Canonical lead element:

Handout 3: Gain and Phase Margins for unstable systems Eric Feron Feb9,2004 Gain and Phase Margins exist for all systems, including the unstable ones Examplel

Handout 5: Control System Design Principles Eric Feron Feb20,2004 The standard feedback loop Draw the feedback loop here Tracking requirements:

Handout 1: Bode plot rules reminder Eric Feron Feb4,2004 General: Bode plot is to plot magnitudes using logarithm scale, phases using log scales. Indeed:

Distributed constraint Satisfaction problems 2 Asynchronous algorithms Thomas leaute 16.412J-Cognitive Robotics april 7. 2004 Presentation outline Introduction to CSPs and DCSPs 2. The Asynchronous Backtracking Algorithm 3. The asynchronous Weak-Commitment Search algorithm 4. Conclusion and Introduction to the task Allocation problem M. Yokoo, E Durfee, T. Ishida and K. Kuwabara, Distributed Constraint Satisfa

Hybrid Mode Estimation and Gaussian Filtering with Hybrid HMMs Stanislav funiak 16. 412/6.834 Lecture, 15 March 2004 References Hofbaur, M. W, and Williams, B C(2002). Mode estimation of probabilistic hybrid systems. In: Hybrid Systems: Computation and Control Hscc 2002 Funiak, S, and Williams, B. C (2003 ). Multi-modal particle filtering for hybrid systems with autonomous mode transitions. In: DX-2003 SafeProcess 2003 Lerner, U.,R. Parr, D. Koller and G. Biswas(2000). Bayesian fault detection and diagnosis in dynamic