Author

# Karl Johan Åström

Other affiliations: IBM, University of California, Santa Barbara, University of Texas at Austin ...read more

Bio: Karl Johan Åström is an academic researcher from Lund University. The author has contributed to research in topics: Adaptive control & PID controller. The author has an hindex of 89, co-authored 580 publications receiving 59629 citations. Previous affiliations of Karl Johan Åström include IBM & University of California, Santa Barbara.

##### Papers published on a yearly basis

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01 Jan 1989

TL;DR: Benefiting from the feedback of users who are familiar with the first edition, the material has been reorganized and rewritten, giving a more balanced and teachable presentation of fundamentals and applications.

Abstract: From the Publisher:
Written by two of the pioneers in the field, this book contains a wealth of practical information unavailable anywhere else. The authors give a comprehensive presentation of the field of adaptive control, carefully bending theory and implementation to provide the reader with insight and understanding. Benefiting from the feedback of users who are familiar with the first edition, the material has been reorganized and rewritten, giving a more balanced and teachable presentation of fundamentals and applications.

5,578 citations

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01 Jan 1984

TL;DR: This volume focuses on the design of computer-controlled systems, featuring computational tools that can be applied directly and are explained with simple paper-and-pencil calculations.

Abstract: Practically all modern control systems are based upon microprocessors and complex microcontrollers that yield high performance and functionality. This volume focuses on the design of computer-controlled systems, featuring computational tools that can be applied directly and are explained with simple paper-and-pencil calculations. The use of computational tools is balanced by a strong emphasis on control system principles and ideas. Extensive pedagogical aids include worked examples, MATLAB macros, and a solutions manual. The initial chapter presents a broad outline of computer-controlled systems, followed by a computer-oriented view based on the behavior of the system at sampling instants. An introduction to the design of control systems leads to a process-related view and coverage of methods of translating analog designs to digital control. Concluding chapters explore implementation issues and advanced design methods. (Less)

3,554 citations

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TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.

Abstract: In this paper we propose a new dynamic model for friction. The model captures most of the friction behavior that has been observed experimentally. This includes the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force. Properties of the model that are relevant to control design are investigated by analysis and simulation. New control strategies, including a friction observer, are explored, and stability results are presented. >

3,416 citations

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01 Jan 1994

TL;DR: In this paper, the authors present a brief history of LMIs in control theory and discuss some of the standard problems involved in LMIs, such as linear matrix inequalities, linear differential inequalities, and matrix problems with analytic solutions.

Abstract: Preface 1. Introduction Overview A Brief History of LMIs in Control Theory Notes on the Style of the Book Origin of the Book 2. Some Standard Problems Involving LMIs. Linear Matrix Inequalities Some Standard Problems Ellipsoid Algorithm Interior-Point Methods Strict and Nonstrict LMIs Miscellaneous Results on Matrix Inequalities Some LMI Problems with Analytic Solutions 3. Some Matrix Problems. Minimizing Condition Number by Scaling Minimizing Condition Number of a Positive-Definite Matrix Minimizing Norm by Scaling Rescaling a Matrix Positive-Definite Matrix Completion Problems Quadratic Approximation of a Polytopic Norm Ellipsoidal Approximation 4. Linear Differential Inclusions. Differential Inclusions Some Specific LDIs Nonlinear System Analysis via LDIs 5. Analysis of LDIs: State Properties. Quadratic Stability Invariant Ellipsoids 6. Analysis of LDIs: Input/Output Properties. Input-to-State Properties State-to-Output Properties Input-to-Output Properties 7. State-Feedback Synthesis for LDIs. Static State-Feedback Controllers State Properties Input-to-State Properties State-to-Output Properties Input-to-Output Properties Observer-Based Controllers for Nonlinear Systems 8. Lure and Multiplier Methods. Analysis of Lure Systems Integral Quadratic Constraints Multipliers for Systems with Unknown Parameters 9. Systems with Multiplicative Noise. Analysis of Systems with Multiplicative Noise State-Feedback Synthesis 10. Miscellaneous Problems. Optimization over an Affine Family of Linear Systems Analysis of Systems with LTI Perturbations Positive Orthant Stabilizability Linear Systems with Delays Interpolation Problems The Inverse Problem of Optimal Control System Realization Problems Multi-Criterion LQG Nonconvex Multi-Criterion Quadratic Problems Notation List of Acronyms Bibliography Index.

11,085 citations

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TL;DR: Time series analysis san francisco state university, 6 4 introduction to time series analysis, box and jenkins time seriesAnalysis forecasting and, th15 weeks citation classic eugene garfield, proc arima references 9 3 sas support, time series Analysis forecasting and control pambudi, timeseries analysis forecasting and Control george e.

Abstract: time series analysis san francisco state university, 6 4 introduction to time series analysis, box and jenkins time series analysis forecasting and, th15 weeks citation classic eugene garfield, proc arima references 9 3 sas support, time series analysis forecasting and control pambudi, time series analysis forecasting and control george e, time series analysis forecasting and control ebook, time series analysis forecasting and control 5th edition, time series analysis forecasting and control fourth, time series analysis forecasting and control amazon, wiley time series analysis forecasting and control 5th, time series analysis forecasting and control edition 5, time series analysis forecasting and control 5th edition, time series analysis forecasting and control abebooks, time series analysis for business forecasting, time series analysis forecasting and control wiley, time series analysis forecasting and control book 1976, time series analysis forecasting and control researchgate, time series analysis forecasting and control edition 4, time series analysis forecasting amp control forecasting, george box publications department of statistics, time series analysis forecasting and control london, time series analysis forecasting and control an, time series analysis forecasting and control amazon it, box g e p and jenkins g m 1976 time series, time series analysis forecasting and control pdf slideshare, time series analysis forecasting and control researchgate, time series analysis forecasting and control 5th edition, time series analysis forecasting and control 5th edition, time series wikipedia, time series analysis forecasting and control abebooks, time series analysis forecasting and control, forecasting and time series analysis using the sca system, time series analysis forecasting and control by george e, time series analysis forecasting and control 5th edition, time series analysis forecasting and control 5th edition, box and jenkins time series analysis forecasting and control, time series analysis forecasting and control ebook, time series analysis forecasting and control, time series analysis and forecasting cengage, 6 7 references itl nist gov, time series analysis forecasting and control george e, time series analysis and forecasting statgraphics, time series analysis forecasting and control fourth edition, time series analysis forecasting and control, time series analysis forecasting and control wiley, time series analysis forecasting and control in

10,118 citations

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TL;DR: This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature.

Abstract: Model predictive control is a form of control in which the current control action is obtained by solving, at each sampling instant, a finite horizon open-loop optimal control problem, using the current state of the plant as the initial state; the optimization yields an optimal control sequence and the first control in this sequence is applied to the plant. An important advantage of this type of control is its ability to cope with hard constraints on controls and states. It has, therefore, been widely applied in petro-chemical and related industries where satisfaction of constraints is particularly important because efficiency demands operating points on or close to the boundary of the set of admissible states and controls. In this review, we focus on model predictive control of constrained systems, both linear and nonlinear and discuss only briefly model predictive control of unconstrained nonlinear and/or time-varying systems. We concentrate our attention on research dealing with stability and optimality; in these areas the subject has developed, in our opinion, to a stage where it has achieved sufficient maturity to warrant the active interest of researchers in nonlinear control. We distill from an extensive literature essential principles that ensure stability and use these to present a concise characterization of most of the model predictive controllers that have been proposed in the literature. In some cases the finite horizon optimal control problem solved on-line is exactly equivalent to the same problem with an infinite horizon; in other cases it is equivalent to a modified infinite horizon optimal control problem. In both situations, known advantages of infinite horizon optimal control accrue.

8,064 citations

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22 Mar 1994

TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.

Abstract: INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in R3. Velocity of a Rigid Body. Wrenches and Reciprocal Screws. MANIPULATOR KINEMATICS: Introduction. Forward Kinematics. Inverse Kinematics. The Manipulator Jacobian. Redundant and Parallel Manipulators. ROBOT DYNAMICS AND CONTROL: Introduction. Lagrange's Equations. Dynamics of Open-Chain Manipulators. Lyapunov Stability Theory. Position Control and Trajectory Tracking. Control of Constrained Manipulators. MULTIFINGERED HAND KINEMATICS: Introduction to Grasping. Grasp Statics. Force-Closure. Grasp Planning. Grasp Constraints. Rolling Contact Kinematics. HAND DYNAMICS AND CONTROL: Lagrange's Equations with Constraints. Robot Hand Dynamics. Redundant and Nonmanipulable Robot Systems. Kinematics and Statics of Tendon Actuation. Control of Robot Hands. NONHOLONOMIC BEHAVIOR IN ROBOTIC SYSTEMS: Introduction. Controllability and Frobenius' Theorem. Examples of Nonholonomic Systems. Structure of Nonholonomic Systems. NONHOLONOMIC MOTION PLANNING: Introduction. Steering Model Control Systems Using Sinusoids. General Methods for Steering. Dynamic Finger Repositioning. FUTURE PROSPECTS: Robots in Hazardous Environments. Medical Applications for Multifingered Hands. Robots on a Small Scale: Microrobotics. APPENDICES: Lie Groups and Robot Kinematics. A Mathematica Package for Screw Calculus. Bibliography. Index Each chapter also includes a Summary, Bibliography, and Exercises

6,592 citations

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TL;DR: This book explores the meta-heuristics approach called tabu search, which is dramatically changing the authors' ability to solve a host of problems that stretch over the realms of resource planning, telecommunications, VLSI design, financial analysis, scheduling, spaceplanning, energy distribution, molecular engineering, logistics, pattern classification, flexible manufacturing, waste management,mineral exploration, biomedical analysis, environmental conservation and scores of other problems.

Abstract: From the Publisher:
This book explores the meta-heuristics approach called tabu search, which is dramatically changing our ability to solve a hostof problems that stretch over the realms of resource planning,telecommunications, VLSI design, financial analysis, scheduling, spaceplanning, energy distribution, molecular engineering, logistics,pattern classification, flexible manufacturing, waste management,mineral exploration, biomedical analysis, environmental conservationand scores of other problems. The major ideas of tabu search arepresented with examples that show their relevance to multipleapplications. Numerous illustrations and diagrams are used to clarifyprinciples that deserve emphasis, and that have not always been wellunderstood or applied. The book's goal is to provide ''hands-on' knowledge and insight alike, rather than to focus exclusively eitheron computational recipes or on abstract themes. This book is designedto be useful and accessible to researchers and practitioners inmanagement science, industrial engineering, economics, and computerscience. It can appropriately be used as a textbook in a masterscourse or in a doctoral seminar. Because of its emphasis on presentingideas through illustrations and diagrams, and on identifyingassociated practical applications, it can also be used as asupplementary text in upper division undergraduate courses.
Finally, there are many more applications of tabu search than canpossibly be covered in a single book, and new ones are emerging everyday. The book's goal is to provide a grounding in the essential ideasof tabu search that will allow readers to create successfulapplications of their own. Along with the essentialideas,understanding of advanced issues is provided, enabling researchers togo beyond today's developments and create the methods of tomorrow.

6,373 citations