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Plenary Lectures
Plenary Lecture I (Wednesday, June 2, 1999, 8:30 am - 9:30 am)
Professor Robert E. Skelton, University of California at San Diego
System Design: The Absentee in System Theory

Abstract: Given all but one component of a system, tools of systems theory can design the final component to guarantee a specified system performance. Unfortunately, tools to invert this process are absent. This inversion process, labeled here system design, must determine the design requirements for each component of the system, given only the system performance requirements. Control problem statements assume all other components are already designed. Yet, performance gains from unifying the designs of two components can be greater than gains in technology of either component. One of the most challenging problems in systems design is the choice of system architecture. Information architecture includes the selection of sensors, actuators, and feedback paths. Material architecture includes the selection of the nano-or micro- or even mega-structure of the material. In controlled structures, systems design should couple these architectural choices. It was recognized in the middle of the 20^th century that the theory of continua is inadequate to account for the strength properties of materials. This brought attention to the role of microstructure in materials. Attempts to integrate the design of structures and controls should look to biological systems, where mechanical, chemical, and electrical forces are involved in complex patterns of information flow, sensing, and feedback. Science can now observe at the nano-scale the architectural selections made in biological systems, but still lacks the interdisciplinary decision-making tools to design man-made systems in this way. This talk exploits biological material architecture, from Buckyballs to the spider fiber, to suggest a system design paradigm for controllable structures.

Biography: Robert E. Skelton began his career at the Marshall Space Flight Center, working first with Lockheed Missiles and Space Company and then Sperry Rand, designing modern controllers for spacecraft. His 1968 MSEE thesis used Luenberger's 1964 observer concepts to control SKYLAB in the presence of unknown gravity gradient torques. His pointing control for the Apollo Telescope Mount pointed the way for the theory of covariance control which followed years later (Skelton, Iwasaki, Grigoriadis, A Unified Algebraic Approach to Control Design, Taylor and Francis 1998). His 1988 book (Dynamic Systems Control, Wiley) provided perhaps the first chapters on model reduction, and a chapter on model error concepts for control design, with concrete demonstration of the interdependence of the two disciplines, modeling and control (even for linear systems). A major focus of his research is on the integration of structure and control design. He is a Fellow of AIAA and IEEE. He was the 1991 Russell Severence Springer Professor, UC Berkeley. He received a Senior Scientist Award from the Alexander von Humboldt Foundation, and a research award from the Japan Society for the Promotion of Science. For five years, he served on the National Research Council's Aeronautics and Engineering Board. He served on the External Independent Review Team for the second servicing mission of the Hubble Space Telescope, and is now serving on this team for the next servicing mission. He has published three books and over a hundred journal papers.

Slides from Plenary I: Professor Skelton (bobskelton@ucsd.edu) has graciously provided us with a copy of the slides that he used for his presentation at the 1999 ACC in San Diego. They are now available in "portable document format" through this link: pdf format: SLIDES. Please note that the entire set is close to 1.5MB hence it may take a while to load (depending on the internet traffic), please be patient. Rest assured, it would be worth the wait.

Plenary Lecture II (Thursday, June 3, 1999, 8:30 am - 9:30 am)
Professor Richard Murray, United Technologies Research Center
Nonlinear Dynamics and Control of Fluid Systems with Applications to Turbomachinery

Abstract: This talk will provide a survey of some of the nonlinear dynamics and control problems that arise in the context of turbomachinery, primarily motivated by gas turbine engines for propulsion and power. By making use of reduced order models and control-oriented nonlinear analysis techniques, substantial progress has been made in understanding and actively controlling fluid instabilities in these systems. Specific results include stabilization of rotating stall and surge in axial flow compression systems and control of combustion instabilities in lean, pre-mixed industrial power systems. Nonlinearity plays an integral role in both the dynamics and control of these systems and non-equilibrium behavior (e.g., stable and unstable limit cycles) must be exploited. Analytical results on bifurcation control in the presence of magnitude and rate limits give insights into some of the fundamental performance limitations in active control of this class of fluid instabilities. Experimental results on a low speed, axial flow compressor and a full-scale industrial combustion rig will be used to illustrate the combined role of dynamic modeling and analysis with active control technology.

Biography: Richard M. Murray is the Director of Mechatronic Systems at the United Technologies Research Center in East Hartford, Connecticut. He is on leave for the California Institute of Technology, where he is an Associate Professor of Mechanical Engineering. Dr. Murray received the B.S. degree in Electrical Engineering from California Institute of Technology in 1985 and the M.S. and Ph.D. degrees in Electrical Engineering and Computer Sciences from the University of California, Berkeley, in 1988 and 1991, respectively. His research interests include nonlinear control of mechanical systems with applications to aerospace vehicles and robotic locomotion, active control of fluids with applications to propulsion and power systems, and nonlinear dynamical systems theory. In 1997, Dr. Murray was awarded the Donald P. Eckman award by the American Automatic Control Council.

Plenary Lecture III (Friday, June 4, 1999, 8:30 am - 9:30 am)
Professor Ioannis Kanellakopoulos, University of California, Los Angeles
Autonomous Vehicle Systems: A New Paradigm for Control Research and Education

Abstract: Rapid advances in computing and communications are making it possible to introduce more and more autonomous capabilities in vehicles operating on the ground, in the air, in space, at sea, and even underwater. These capabilities can be utilized to enhance the performance and safety of individual vehicles as well as to operate vehicles in formations for specific purposes. In order to realize this untapped potential, control must play a central and critical role. In this context, control includes not just the algorithms themselves, but also the sensors and actuators that connect the computers to the physical system. This talk will describe recent research in the Adaptive and Nonlinear Systems Laboratory at UCLA (http://ansl.ee.ucla.edu), which has been focusing on several aspects of the autonomous vehicle problem, ranging from the purely theoretical to the very applied. A focal point of this research is the creation of theoretical tools for nonlinear control design, which address practical issues of interest in real-world applications, such as significant nonlinearities, incomplete state measurement, and design objectives that vary from one operating region to the next. These tools are used to create new solutions in applications such as active suspension, steer-by-wire, and driver-less operation of commercial heavy vehicles. This control research is complemented by the development of a new ranging sensor technology called IRIS (Intelligent Ranging with Infrared Sensors), and of an advanced environment for integrated design, simulation, and experiment, as well as by the development and fabrication of a unique experimental electric vehicle called SMARTREV (Single-occupant, Multi-sensor, Actively-controlled, Remotely-tracked, Traction-adjustable Research and Education Vehicle), which is being used as an experimental platform for research on autonomous vehicles and for student class projects on systems design.

Biography: Ioannis Kanellakopoulos received the Diploma in Electrical Engineering from the National Technical University of Athens, Greece, in 1987, and the M.S. and Ph.D. degrees in Electrical Engineering from the University of Illinois at Urbana-Champaign in 1989 and 1992. Since July 1992 he has been with the Department of Electrical Engineering, University of California, Los Angeles, where he is currently an Associate Professor and Vice-Chair for Computer Systems. His research interests include adaptive and nonlinear control theory with applications to advanced vehicle control systems, intelligent transportation systems (ITS), autonomous vehicles, and electric motors. Current projects in his research group at UCLA include theoretical research on global adaptive designs for discrete-time uncertain nonlinear systems and global observer-based designs for continuous-time nonlinear systems with incomplete state measurement, as well as experimental projects involving the design and construction of a prototype electric vehicle, novel ranging sensors for ITS applications, and the instrumentation and operation of a Class-8 18-wheel tractor-trailer combination vehicle. More information about these research activities can be found in the website of the UCLA Adaptive and Nonlinear Systems Laboratory (URL: http://ansl.ee.ucla.edu). Dr. Kanellakopoulos received the 1983 Heroes of Polytechneion Award from the National Technical University of Athens for ranking first in the Panhellenic University Entrance Examination, the 1993 George S. Axelby Outstanding Paper Award of the IEEE Transactions on Automatic Control (with Professors Kokotovic and Morse), a 1993 Research Initiation Award and a 1995 CAREER Award from the National Science Foundation, the 1996 Allied Signal Faculty Research Award from the UCLA School of Engineering and Applied Science, a 1997 Honorable Mention as an Eta Kappa Nu Outstanding Young Electrical Engineer, and the 1998 Donald P. Eckman Award of the American Automatic Control Council.

Industry and Applications Sessions
The AACC is particularly interested in enhancing the applications and industry related perspective of the ACCs. Accordingly, there will be Tutorial sessions with a detailed introduction of an industrially-proven, but still relatively new technique followed by several short presentations from industrial participants, revealing applications, benefits, and perspectives on its use.

Tutorial Workshops
Six tutorial workshops have been selected from a large set of proposals. Detailed summaries of all workshops appear later; the titles, presenters and dates are listed below. Please note that workshops will be held on Tuesday and Saturday this year.

The workshop presenters are technical leaders and experienced lecturers. Workshop registration fees, which include lecture notes and refreshments, may be paid in advance using the Advance Registration Form or on-site at the Registration Desk. Pre-registration is strongly encouraged, both to reserve space and to prevent workshop cancellation. A workshop will be canceled if the number of registrants does not meet a specific limit. In the unlikely event that a workshop is canceled, pre-registrants will be contacted as soon as possible after the advance registration deadline of April 16, 1999; therefore, when registering, please include your email address, telephone and fax numbers.

Registration Rates for Workshops

Schedule and Abstracts of Workshops

Tutorial Workshop T-1: Active Control of Structural and Acoustic Vibration
Dennis Bernstein University of Michigan
Ravinder Venugopal University of Michigan
This workshop provides a detailed overview of the methods and technology that is pertinent to active control of structural and acoustic vibration. Special topics include a unified treatment of robust and adaptive control methods as well as a balance of theory, hardware, and experimental techniques. The first portion of the workshop presents the physics of structural and acoustic vibration, identification methods, and control architecture guidelines. The second part covers both robust and adaptive control methods. A distinction is made between adaptive methods that assume a feedforward architecture and those that account for the feedback path between the control input and reference signal. This treatment provides a unified treatment of both traditional feedback algorithms and feedforward noise cancellation techniques. The last section of the course focuses on hardware issues including sensors, actuators, and real-time control processors, as well as experimental techniques for implementing and testing active noise and vibration control systems. This workshop is suitable for participants from both industry and academia.
Tuesday June 1
08:00-09:00 Control-oriented modeling of structural and acoustic vibration
09:00-10:00 Identification techniques for structural and acoustic vibration
10:00-11:00 Control architecture guidelines for structural and acoustic vibration
11:00-12:00 Robust control methods for suppressing structural and acoustic vibration
13:00-14:00 Adaptive feedforward control methods for suppressing structural and acoustic vibration
14:00-15:00 Adaptive feedback control methods for suppressing structural and acoustic vibration
15:00-16:00 Control hardware for structural and acoustic vibration
16:00-17:00 Experimental techniques for active control of structural and acoustic vibration

Tutorial Workshop T-2: A New Approach to Feedback Design: Robust & Optimal Classical Control
S. Bhattacharyya Texas A&M University
L. Keel Tennessee State University
A. Datta Texas A&M University
This workshop presents recent theoretical developments that enable classical and modern control concepts to be used for the design of fixed order controllers, such as PID and lead/lag. Classical control is simple and intuitive, therefore many control industries still prefer PID type controllers. (95% of industrial controllers are P, PI, or PID despite great developments in modern control.) There exists no method for designing optimal or robust P, PI, or PID controllers; most are still designed with Ziegler-Nichols formulas. Unfortunately modern optimal-robust control cannot effectively deal with fixed order or fixed structure controllers. This workshop bridges this gap by introducing new and computationally neat approaches that use both classical and modern control concepts of design. These approaches enhance industry's existing design technologies and perhaps also overcome some of the shortcomings of highly complex controllers of optimal control.
Tuesday, June 1
08:00-09:30 Review of Robust Parametric Control (Generalized Kharitonov and Hermite-Bieler Theorems, Edge Theorem, Frequency Domain Techniques, Loop Shaping, Robustness, Fragility, H-Infinity)
09:30-12:00 Characterization of All Lower Order Controllers
13:00-14:50 Optimal and Robust P, PI, PID, and First Order Controller Synthesis
14:30-16:00 Loop shaping and Optimal Controller Design via Linear Programming
16:00-17:00 Issues of Practical Implementation

Tutorial Workshop T-3: Input-Output Approaches to H-Infinity Control and Estimation
Babak Hassibi Stanford University
Thomas Kailath Stanford University
This workshop presents the input-output approach for H-infinity control and estimation with an emphasis on new results which further our physical understanding of problems and which complement the computationally-oriented state-space techniques currently used in practice. When H-infinity control was introduced in the 1980's, the first methods were input-output operator-theoretic techniques. These methods led to complications that translated into computational difficulties so that the input-output techniques were superceded by state-space techniques with more direct solutions; state-space methods thus became the dominant approach for H-infinity control. This is clearly reflected in many textbooks devoted to this subject. Nonetheless, there is much value in revisiting the input-output approach, especially with the hindsight obtained over the last fifteen years in H-infinity control. Although state-space techniques are powerful for computing solutions, and are growing even more so with the advent of efficient numerical techniques, they do not always give physical insight into the nature of problems and fundamental limitations. Such insight can be obtained much more effectively using input-output techniques which allow solutions to be revealed and understood in their most transparent forms, and without the often obscuring fine details that occur in specific problems. This workshop presents the basics of the input-output approach to H-infinity control, with an emphasis on obtaining closed-form solutions for optimal two-block and four-block H-infinity problems. Connections with state-space techniques, Riccati equations, and LMIs are also reviewed. Using solutions to the two-block and four-block problems, H-infinity-optimal solutions are presented for several important problems in tracking, equalization, prediction, adaptive signal processing, adaptive control, and multi-rate signal processing. An important feature of these examples is that, since explicit closed-form solutions can be found, the fundamental limitations of the problems are exposed and much physical insight is obtained. This also leads to the concepts of "worst-case" controllability (estimability), essentially the question of when a system (signal) is easy or difficult to control (estimate).
Tuesday June 1
08:00-09:00 Input-output approach to control and estimation
09:00-10:30 Input-output H-infinity full information control and estimation
10:30-12:00 Input-output measurement feedback control
13:00-14:30 State-space techniques and computational aspects
14:30-16:00 Applications and examples
16:00-17:00 Worst-case controllability and estimability
17:00-17:30 Open problems

Tutorial Workshop S-1: LFT-Based Methods for Integrated Modeling of Nonlinear Systems
Kameshwar Poolla University of California at Berkeley
Gary Balas University of Minnesota
Andy Packard University of California at Berkeley
Sundeep Rangan Lucent Technologies
Darin Fisher University of California at Berkeley
Mason Freed University of California at Berkeley
This workshop presents practical, computational, and theoretical aspects of Integrated Modeling of Nonlinear Systems. The phrase "integrated modeling" in the broad context encompasses structured parameter estimation, model reduction, verification, control-oriented modeling, and state estimation of interconnected nonlinear systems. This workshop uses a new modeling framework that employs linear fractional transformations (LFTs) to simplify and optimize associated computations. This framework allows a unified analysis of parameter estimation problems. In particular we discuss identifiability, convergence issues and computational aspects. We will also present techniques for model verification, and for generating control-oriented models from input-output data. This is essential to marry system identification techniques to modern robust control design methods. Finally, we present recent work on semi-parametric methods in system identification. These promising techniques are well suited to identify components in an interconnected model that do not have a natural physical parameterization, and to efficiently determine noise models. Applications of this approach to integrated modeling, and of related problems of control-oriented modeling, structured model reduction, and model verification are also discussed. Examples are drawn from acoustic modeling, process control, and aerospace applications.
Saturday June 5
08:00-08:30 Nonlinear models, uncertainty models, and LFT's
08:30-09:00 Issues and Tradeoffs in Modeling and Identification
09:00-10:00 LFT based Parameter Estimation
10:00-11:00 Computational Aspects
11:00-12:00 Software Tools
13:00-14:00 Guidelines for Practical System Identification
14:00-14:30 Structured Model Reduction
15:00-15:30 State Estimation
15:30-16:00 Control-oriented Modeling
16:00-16:30 Model Verification
16:30-17:00 Semi-parametric System Identification

Tutorial Workshop S-2: Automated Multivariable System Identification:
Tutorial Workshop S-2: Basic Principles with Control and Monitoring Applications
Wallace E. Larimore Adaptics Inc.
Dale E. Seborg University of California, Santa Barbara
Over the past several years, computational methods and software have been developed to reliably identify system dynamics from input/output data with optimal statistical accuracy. These automatic methods apply to a very general class of linear systems including multi-input/multi-output, state and measurement noise disturbances, unknown feedback, unknown state order, and possibly unstable or highly resonant dynamics. Existing methods for high accuracy identification such as Box/Jenkins and prediction error methods are problematic in that they are both computationally unreliable and involve a tedious toolbox approach requiring graduate level training. The automatic methods presented in this workshop are fundamentally different and involve direct determination of the system states, i.e. system rank, using stable singular value decomposition (SVD) computations. Optimal rank selection based on canonical variate analysis (CVA) are related to partial least squares (PLS), principal component analysis (PCA), and subspace system identification methods. Statistical order selection methods are described that give optimal determination of state order. The state space dynamics are determined by simple multivariate regression. The concepts are presented in a direct first principles way that is appropriate for advanced undergraduate and graduate curriculum so that automated system identification can be made much more accessible to those in most need of using it. This advance in system identification has major implications for analysis, system monitoring, and design and implementation of control systems for many applications including aerospace, automotive, and chemical and industrial processes. For process monitoring, CVA provides powerful new methods for the detection and analysis of changes in co-linear multivariable processes. For control system implementation, CVA provides high accuracy multivariable models even in the presence of unknown system feedback. CVA provides a starting point for robust control design since accuracy confidence bands on the identified model are automatically provided. Since the computation is completely automatic, it is ideal for online and adaptive control applications. A number of such applications are presented including an industrial recovery boiler, stirred tank reactor, auto-thermal reactor, distillation column, change monitoring for the Tennessee Eastman Challenge Problem, and online adaptive control in a wind tunnel test of unstable aircraft wing flutter. Automated system identification methods are compared with alternative approaches in terms of model types considered, required user knowledge, computational requirements and reliability, and results of model fitting with simulate and real data sets.
Saturday June 5
08:00-08:30 Overview of System Identification Methods
08:30-09:00 Rank of a Dynamical System and State Estimation
09:00-10:00 Model Order Selection Based on Statistical Criteria
10:00-11:00 Model Parameter Estimation and Filtering
11:00-12:00 Comparison of Alternative System Identification Approaches
13:00-14:00 Identification with Unknown Delays and Feedback
14:00-15:00 Process Monitoring using CVA
15:00-16:00 Process Monitoring Applications
16:00-17:00 Identification and Control Applications

Tutorial Workshop S-3: Intelligent Control
Kevin Passino The Ohio State University
This workshop introduces the three main areas of intelligent control: fuzzy control, neural networks, and genetic algorithms and their use in estimation and adaptive control. Many examples are used, and coding for Matlab experimentation is discussed (Matlab code will be given to the attendees). Overall, the focus is on understanding the basic techniques and how they can be used in applications. The workshop begins with a brief introduction to intelligent control where the field is defined, its relationships to conventional control are highlighted, and the ultimate goal of achieving autonomous behavior is explained. Next, the basics of fuzzy control are provided and an example of how it is useful as a heuristic synthesis technique for nonlinear controllers is given. After introducing some basic neural networks and relevant approximation theory, it is explained how to train neural networks with, for example, gradient methods. Then, as an example, it is shown how neural networks (and fuzzy systems) can be trained to act as estimators. Genetic algorithms are introduced. This is followed by the introduction of a direct adaptive control method that uses fuzzy systems and an indirect adaptive control method that uses a neural network. Genetic adaptive estimation and control is discussed.
Saturday June 5
08:00-08:15 Introduction to Intelligent Control
08:15-10:00 Fuzzy Control
10:15-12:00 Neural Networks, Training Methods
13:00-14:45 Training Methods (continued) and Genetic Algorithms
15:00-16:30 Adaptive Control: Fuzzy/Neural Approaches
16:30-17:00 Genetic Adaptive Control

Exhibits
Wednesday (6/2) & Thursday (6/3), 9:00 am - 5:30 pm
Friday (6/4), 8:30 am - 1:00 pm

Exhibits will be sponsored by book publishers and developers of control systems software and hardware products. Coffee and soft drinks will be available in the exhibit area several times a day Coffee and soft drinks will be available in the exhibit area several times a day. For information concerning arrangements for the exhibits, contact the Exhibits Chair, Laszlo Hideg (hideg@ltu.edu). For the 1999 ACC, several exhibitors have already announced that they will participate. Please see the list at the bottom of this page.

In addition, some of the exhibitors will provide special demonstrations of their products at various times during the conference. They will answer questions about features and capabilities of their products. A schedule of demonstrations will be provided in the Final Program to be distributed at the conference. There will be no charge for these demonstrations.

A special CDROM viewing area (computers and printers) will be set up near the Exhibits area. This service is being sponsored by Honeywell.

• Mid January, 1999: Author notification and author's kits distribution.
• March 1, 1999: Deadline for final manuscript submission (camera ready mats or electronic format) for the conference proceedings.
• April 16: Deadline for Advance Registration for the Conference
• May 1: Deadline for Hotel Reservation
• May 7: Cancellation of Conference Registration
  

1. AACC Copyright Form (mandatory)
2. Paper Certification Form (mandatory)
3. Excess Pages Fee of $175.00 per page (mandatory, if applicable)
4. Audio/Visual Equipment Request Form (if necessary)
5. Camera-Ready Hard-Copy of Paper (mandatory)
6. Diskette with PDF or PS File (optional)

Where to Submit
Submit the above items to Omnipress (Tel. 608-246-2600 for express mail delivery), using the mailing label provided with your acceptance letter. This mailing label has been coded with your paper's Session-Sequence code (e.g., WA01-1). Please do not fold your camera-ready hardcopy; we recommend that you include a cardboard stiffener to ensure a safe delivery. The included label has the following format:

Omnipress
1999 ACC session = WA01-1 [YOUR Session-Sequence code] (e.g., WA01-1)
2600 Anderson Street
Madison, Wisconsin 53704 USA

When to Submit
All materials (items 1-6 above) must reach Omnipress by March 1, 1999. If you fail to meet this deadline, we may not be able to publish your paper in the conference proceedings.

Instructions for Preparing Camera-Ready Manuscript

• Length: 2 (Short) or 5 (Regular) pages, unless excess page fees are paid
• Paper Size: Letter (8.5 ´ 11 in) or A4 (210 ´ 297 mm) - see below for layout
• Page Layout: two-column format with single spacing, see below for dimensins
• Type Size: no type less than 9 pt anywhere in the document
• Title: center across entire page at top of first page
• Authors: center across entire page below title (w/ affiliations and addresses)
• Abstract: left-column only
• Sections: use numbered headings for sections, subsections and sub-subsections
• Figures: caption at bottom, embedded or at end of paper
• Tables: caption at top, embedded or at end of paper
• References: include list of references at end of paper, with citations as appropriate
• Page Numbers: none, but number on back using light pencil

The Final Step (Electronic submission of Abstracts)
The Final Program (available at the conference site) will include abstracts of all papers and will thus serve as a useful companion to the CD-ROM proceedings. Consequently, authors must submit their abstracts via the Internet no later than March 1, 1999. Please follow the procedure described below.

1. Go to the web site http://130.39.192.90/cebopenweb/conferences/acc99/E-abstract.htm (The web site will be operational as soon as the acceptance letters have been sent out to the authors)
2. Enter your Paper ID number (e.g. ACC99-SHORT0123), Session-Sequence code (e.g., WA01-1) and Corresponding Author PIN number.
3. Using your word processor, copy and paste your abstract into the space provided.
4. If there has been a change in the title of your paper or a change in the authors, please enter the correct information. Do not fill in this section if there is no change from your paper submission.
5. If you cannot access the above web site, you may submit your abstract by email. Be sure to include all information listed above in your email and send it to: Bushnell@aro-emh1.army.mil

All conference attendees must register; personal badges will be provided to identify registered participants. Registration fees may be paid in advance using the enclosed Advance Registration Form. Advance registration is highly recommended. It saves you money, it provides a convenient way to ship your Printed Proceedings, and it helps to prevent cancellation of, or lack of space in, the Tutorial Workshops that you wish to attend.

A registration packet will be available for each registered participant at the Registration Desk during the following hours:

Payment of fees must be made in US currency by check, money order, or credit card. Purchase orders, bon de commandes, bank transfers or promissory notes will not be accepted. Advance registration by fax or email will not be accepted. Advance registration must be received no later than April 16, 1999, or else it will not be processed. Refund requests will be honored only if they are received in writing no later than May 7, 1999. All questions concerning conference registration should be directed to the Registration Chair, Oscar González (acc99reg@ece.odu.edu).

Registrations received after April 16, 1999 will not be processed. All registered participants will receive a CD-ROM containing the Conference Proceedings. Member and Non-Member registration also includes the Awards Banquet on Thursday, June 3, 1999. The printed Proceedings are not included in any registration, but can be ordered using the Advance Registration Form in this booklet. The printed proceedings will be mailed after the conference using 4th class or book rate.

The regsitration rates and printed proceedings rates are as follows:

Speakers' Breakfast
Wednesday - Friday, June 2 - June 4
7:00 am - 8:00 am

Complimentary breakfast will be served for speakers, chairs and co-chairs on the day of their sessions. Speakers should attend the breakfast in order to facilitate session planning, and to provide biographical information to the session chairs or co-chairs. For papers with multiple authors, only the presenting author is invited to attend the breakfast.

Conference Proceedings

The CD-ROM proceedings will be distributed at the conference along with your registration package. There will be no printed proceedings at the conference. The printed set of proceedings will be mailed after the conference to those registrants who pay the additional fee as listed above (cost of proceedings includes Fourth Rate/Book Class shipping charges). Computers will be set up in the Exhibits area for viewing the CD-ROM proceedings during the conference.

Local Arrangements

For information on local arrangements within the hotel, contact the Local Arrangements Chair, Gary Yen (gyen@master.ceat.okstate.edu). Requests for meeting rooms should be made in advance with details regarding room specifications, date, time, number of attendees, and any special requirements.

There will be a Welcoming Reception (cash bar) for all conference attendees and their accompanying guests. A ticket for one complimentary drink is included with each full registration packet.

Companions Orientation
Wednesday, June 2
9:00 am - 10:00 am

A brief orientation session will be held to provide an informal opportunity for accompanying guests to become better acquainted and to learn more about the city’s tours, shopping, and the surroundings. Refreshments will be served.

Newcomers and Student Reception
Wednesday, June 2
6:30 pm - 7:30 pm

ACC attendance always includes a number of students and first-time attendees. There will be a special reception to welcome those participants. Industrial participants are especially encouraged to attend this reception, since it provides a good opportunity to meet with students who will be seeking employment. AACC officers and organizers of the conference will be on hand to answer questions about ACC and AACC.

Awards Banquet
Thursday, June 3
7:00 pm - 9:30 pm

The Awards Banquet will feature the presentation of annual awards sponsored by the AACC and remarks from the AACC President Masayoshi Tomizuka. Extra banquet tickets may be ordered (before April 16, 1999) using the Advance Registration Form; they may also be purchased at the Registration Desk until Wednesday, June 2, subject to availability. The price is $50 per person. If you plan to skip the Awards Banquet, please return your ticket as early as possible to the Registration Desk; returned tickets will be made available to students or retirees who would like to attend.

Closing Reception
Friday, June 4
6:00 pm - 8:00 pm

The Closing Reception will be a special time to relax after a hectic week, to enjoy special refreshments, to say good-bye to friends, and to make plans for the 2000 ACC. All registrants and their accompanying guests are invited.

• Robust Controller Design via m -Synthesis for High Performance Micromachined Tunneling Accelerometers, by Liu C.-H., Kenny, T. (Advisor) and Rockstad, H.K.(Session WA09-4)
• Robust Adaptive Kalman Filtering for Linear Time Varying Systems with Stochastic Parametric Uncertainties, by Wang, F. and Balakrishnan, V. (Advisor)(Session WA16-1)
• A Learning and Estimation Problem Arising from In-Situ Control and Diagnostics of Manufacturing Processes, by Galarza, C. and Khargonekar, P. (Advisor) (Session WM13-1)
• Policies for Simultaneous Estimation and Optimization, by Lobo, M.S. and Boyd, S. (Advisor)(Session WM16-4)
• Adaptive Neural Network Control for Strict-Feedback Nonlinear Systems Using Backstepping Design, by Zhang, T., Ge, S.S. (Advisor) and Hang, C.C.(Session WP02-2)

The winner will be decided based on the reviews conducted thus far and presentation of   papers at the ACC. All papers will be presented by the (first-listed) student authors. Please attend these sessions to encourage the presenters.

Student Travel Support

The ACC has received travel funds from the NSF and AACC for students registered in US universities for attending the conference. These funds will be used to partially offset the cost incurred by the student attendees presenting papers at the ACC. For further details please contact Dr. Yen at the address gievn below. To be eligible for the grant, (1) at the time of application you must be enrolled at an institution of higher learning in the United States, (2) you must be a (co)author of a paper accepted for presentation at the ACC and (3) you will present the paper at the ACC. Please furnish the following information:

by May 3, 1999 via regular mail to Dr. Gary Yen at:

Professor Gary G. Yen
School of Electrical & Computer Engineering
202 EngineeringSouth
Oklahoma State University
Stillwater, OK 74078-5032
Tel: (405) 744-7743
FAX: (405) 744-9198
gyen@master.ceat.okstate.edu

The Hyatt Regency San Diego, the West Coast’s tallest waterfront building, is located on the magnificent San Diego Bay. It is located adjacent to San Diego’s Convention Center and is just blocks from Seaport Village and the restored, historic Gaslamp Quarter for nightlife and dining. Enjoy tempting choices of dining and entertainment at Lael’s for Mediterranean cuisine, Sally’s for seafood, Worthington’s and Top of the Hyatt for cocktails. There is also a swimming pool, tennis courts, a health club, spa and salon. Fax machines and photocopying are available at the hotel’s Business Center.

Child Care
Child care can be arranged through the hotel Concierge with Marion Child Care, a licensed, bonded (insured) childcare agency. Current rates are $29.00 for the first three hours for up to two children, $9.00 for each additional hour, plus up to $12.00/day parking fee.

San Diego and Vicinity
San Diego is bordered to the west by 70 miles of shimmering coastline. To the east, it is bordered by the verdant Cleveland National Forest to the vast Anza-Borrego Desert. Located 120 miles south of Los Angeles and 15 miles north of the Mexican border, San Diego is the second largest city in California. Just across the bay from the downtown area, via the majestic San Diego-Coronado Bay Bridge or San Diego-Coronado Bay Ferry, is Coronado, the “Crown City.” Fifteen minutes north of downtown is La Jolla, the jewel of San Diego, renowned for its beautiful beaches, and spectacular hillside homes, as well as the acclaimed Tony Award-winning La Jolla Playhouse. Just north of La Jolla are Torrey Pines State Park and Del Mar. To the northeast, one of America's largest telescopes, in the Mt. Palomar Observatory, can be found high atop Mt. Palomar via the “Highway to the Stars.”

Following is a sampling of attractions within San Diego (see http://www.sandiego.org/ for more information):

SAN DIEGO ZOO - The world-famous San Diego Zoo is the area's most famous visitor attraction. This 100-acre tropical garden zoo has 3,900 animals of 800 species and is noted for exhibiting many rare and exotic species such as a pair of giant pandas currently on loan from China--as well as its lush botanical collection.
SAN DIEGO WILD ANIMAL PARK - The San Diego Wild Animal Park is a 2,150-acre preserve where wild animals roam free over vast expanses as they would in their native habitats of Africa and Asia.
SEA WORLD - Located on Mission Bay, this 150-acre park features five major shows and dozens of fascinating exhibits containing marine life from around the globe, including the popular Penguin Encounter and the Shark Encounter.
BALBOA PARK - In the heart of San Diego is beautiful Balboa Park. Within its 1,200 lush acres are museums, art galleries, performers, the Reuben H. Fleet Space