Balasubramaniam Srinivasan

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The main bottleneck in using optimization at the industrial level is the presence of uncertainty in the form of model mismatch and disturbances. The way uncertainty can be handled constitutes the subject of this series of two papers. The first part dealt with the characterization of the nominal solution and proposed an approach to separate the(More)
Process measurements can be used in an optimization framework to compensate the effects of run-time uncertainty. Among the various options for input adap-tion, a promising approach consists of directly enforcing the Necessary Conditions of Optimality (NCO) that include two parts: the active constraints and the sensitivities. In this paper, the variations of(More)
ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ ⅷ In the control of robot manipulators, it is customary to assume that the eigenvalues of the inertia matrix are uniformly bounded from below and above. However, in this article it is shown that not all manipulators possess this property. The class of serial robot manipulators with bounded(More)
The optimization of batch processes has attracted attention in recent years because, in the face of growing competition, it is a natural choice for reducing production costs, improving product quality, meeting safety requirements and environmental regulations. This paper starts with a brief overview of the analytical and numerical tools that are available(More)
Run-to-run control has been applied to several traditional batch processes in the chemical industry. The 24-h cycle of eating meals, measuring blood glucose concentrations, and delivering the correct insulin bolus, with the goal of achieving the optimal blood glucose profile, can be viewed in the same spirit as traditional batch processes such as emulsion(More)
In run-to-run control, measurements from previous runs are used to push the outputs of the current run towards desired set points. From a run-to-run perspective, the classical dynamics get integrated by each run, thereby leading to a static nonlinear input-output map. This paper shows that, when successive linearization of this nonlinear map is used to(More)