Paul K. Houpt

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A method for the design of controllers of constrained manipulators in the presence of model uncertainties is developed. The controller must carry out fine maneuvers when the manipulator is not constrained, and compliant motion, with or without interaction-force measurement, when the manipulator is constrained. At the same time stability must be preserved if(More)
Existing methods of estimating section (link) density on freeways from data provided by electronic presence (loop) detectors typically require extensive knowledge of uncertainties and/or strong assumptions on prevailing flow conditions, such as homogeneity. Consequently, these methods are known to produce poor estimates in inhomogeneous conditions, or when(More)
One method otmodel-based compensator design for linear multivariable systems consists of state-feedback design and observer design (Athans 1971). A key step in recent work in multi variable synthesis involves selecting an observer gain so the final loop-transfer function is the same as the state-feedback loop transfer function (Doyle and Stein 1979, Goodman(More)
T HE PROBLEM addressed in this paper is the development of a systematic approach to the detection of freeway incidents (accidents, stalled cars, debris on the road, etc.). The goal of our work was the design of algorithms that 1) directly use data from conventional presence detectors which provide binary information at each point in time, indicating the(More)
There are many techniques for designing discrete-time compensators. However, the digital implementation of such designs has not typically been addressed. The nature of digital hardware impacts the computational structure of the compensator and also can affect the original system design parameters. This paper deals with the architectural issues of serialism,(More)
We present a practical stability result for dynamical systems depending on a small parameter. This result is applied to a practical stability analysis of fast time-varying systems studied in averaging theory, and of highly oscillatory systems studied by Sussmann and Liu. Furthermore, the problem of practically stabilizing control affine systems with drift(More)
A laboratory design facility for digital microprocessor implementation of Linear-Quadratic-Gaussian feedback compensators is described. Outputs from user interactive programs for solving infinite ti-horizon LQ regulator and Kalman filter problems are conditioned for i-le-entation on a laboratory microcomputer system. The software consists of two parts: (1)(More)
Abstmct-Researchers in digital signal processing have examined at length the effects of finite wordlength in the design of digital filters. The issues that have been considered apply to any digital system. In particular, the design of digital control systems must consider these issues. In this paper we will use, adapt, and extend the ideas developed in(More)