2016 
Sui T, Marelli DE, Fu M, 'Convergence analysis of Gaussian belief propagation for distributed state estimation', Proceedings of the IEEE Conference on Decision and Control (2016) [E1]
Â© 2015 IEEE.Belief propagation (BP) is a wellcelebrated iterative optimization algorithm in statistical learning over network graphs with vast applications in many scientific an... [more]
Â© 2015 IEEE.Belief propagation (BP) is a wellcelebrated iterative optimization algorithm in statistical learning over network graphs with vast applications in many scientific and engineering fields. This paper studies a fundamental property of this algorithm, namely, its convergence behaviour. Our study is conducted through the problem of distributed state estimation for a networked linear system with additive Gaussian noises, using the weighted leastsquares criterion. The corresponding BP algorithm is known as Gaussian BP. Our main contribution is to show that Gaussian BP is guaranteed to converge, under a mild regularity condition. Our result significantly generalizes previous known results on BP's convergence properties, as our study allows general network graphs with cycles and network nodes with random vectors. This result is expected to inspire further investigation of BP and wider applications of BP in distributed estimation and control.



2016 
Peters EGW, Quevedo DE, Fu M, 'Codesign for control and scheduling over wireless industrial control networks', Proceedings of the IEEE Conference on Decision and Control (2016) [E1]
Â© 2015 IEEE.We investigate the codesign of a scheduler and controller for feedback control over wireless industrial hybrid protocol networks. These hybrid protocols incorporate ... [more]
Â© 2015 IEEE.We investigate the codesign of a scheduler and controller for feedback control over wireless industrial hybrid protocol networks. These hybrid protocols incorporate possibilities for both contentionfree and contentionbased medium access to support realtime requirements and intermittent communications, respectively. We focus in particular on the possibilities and limitations of feedback control over hybrid networks that are based on the IEEE 802.15.4 protocol, where we propose a controllerscheduler codesign that utilizes both the contentionfree and contentionbased parts of the protocol. This controllerscheduler is designed to minimize a linear quadratic cost function where probabilities for successful transmissions in the contentionfree and contentionbased parts also are taken into account. Simulation studies illustrate that careful codesign of the schedulercontroller results in significant performance gains compared to roundrobin heuristics.



2016 
Han T, Zheng R, Lin Z, Fu M, 'A barycentric coordinate based approach to formation control of multiagent systems under directed and switching topologies', Proceedings of the IEEE Conference on Decision and Control (2016) [E1]
Â© 2015 IEEE.This paper studies the formation control problem for a leaderfollower network in 3D. The objective is to control the agents to form a globally rigid formation, for w... [more]
Â© 2015 IEEE.This paper studies the formation control problem for a leaderfollower network in 3D. The objective is to control the agents to form a globally rigid formation, for which the sensing graph is directed and switching while the communication graph is undirected and switching. Under such a setup, a barycentric coordinate based approach is proposed for the design of formation control laws ensuring global convergence. A necessary and sufficient graphical condition is obtained to guarantee that the followers converge to form a globally rigid formation together with the leaders. By this approach, the formation of the whole group, namely, the orientation, translation and formation scale, can be reconfigured by the leaders.



2016 
Li L, Fu M, Zhang H, 'Consensus control for high order continuoustime agents with communication delays', Proceedings of the American Control Conference (ACC) (2016) [E1]



2016 
Qiao Y, Yang W, Fu M, 'A new powerefficient distributed method for clock synchronization in sensor networks', Chinese Control Conference, CCC (2016)
Â© 2016 TCCT.This paper presents a new distributed powerefficient method consisting of clock synchronization achieving and maintaining protocols. The achieving protocol can reali... [more]
Â© 2016 TCCT.This paper presents a new distributed powerefficient method consisting of clock synchronization achieving and maintaining protocols. The achieving protocol can realize synchronization of time variations and initial time errors independently and simultaneously with an energyefficient communication scheme designed in the paper. Then a stopping criterion is proposed to degrade the protocol into a maintaining one which is synthesized under the general strongly connected digraph to achieve more energy conservation. Numerical simulations are given to illustrate the performance of the method.



2016 
Sui T, Marelli D, Fu M, 'Convergence analysis for Guassian belief propagation: Dynamic behaviour of marginal covariances', ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing  Proceedings (2016)
Â© 2016 IEEE.Despite of its wide success in many distributed statistical learning applications, the wellknown Gaussian belief propagation (BP) algorithm still lacks sufficient un... [more]
Â© 2016 IEEE.Despite of its wide success in many distributed statistical learning applications, the wellknown Gaussian belief propagation (BP) algorithm still lacks sufficient understanding at the theoretical level. This paper studies the convergence of Gaussian BP by analyzing the dynamic behaviour of the marginal covariances. We show, under a mild technical assumption, that the information matrices (i.e., the inverses of marginal covariances) are guaranteed to converge exponentially to positivedefinite matrices. The convergence rate is explicitly characterized. This result is a key step to the understanding of the dynamic behaviour of the BP iterations.



2015 
Han Z, Lin Z, Chen Z, Fu M, 'Formation maneuvering with collision avoidance and connectivity maintenance', IEEE International Symposium on Intelligent Control  Proceedings (2015) [E1]
Â© 2015 IEEE.This paper proposes a switching control strategy for formation maneuvering control of multiagent systems with guaranteed collision avoidance and connectivity mainten... [more]
Â© 2015 IEEE.This paper proposes a switching control strategy for formation maneuvering control of multiagent systems with guaranteed collision avoidance and connectivity maintenance properties. The control strategy consists of three parts: formation maneuvering, collision avoidance, and connectivity maintenance control. We adopt the idea of using complex Laplacian for formation maneuvering control, which gives rise to one degree of freedom in scaling the size of the achievable formations and thus enables collision avoidance and connectivity maintenance possible in the meantime. Simulation results are provided to demonstrate the effectiveness of the control strategy.



2015 
Xing H, Mou Y, Fu M, Lin Z, 'Distributed algorithm for economic power dispatch including transmission losses', 2015 European Control Conference, ECC 2015 (2015) [E1]
Â© 2015 EUCA.The economic dispatch problem (EDP) is of vital importance in the operation and control of power systems. In this paper, we consider the extended EDP that takes into ... [more]
Â© 2015 EUCA.The economic dispatch problem (EDP) is of vital importance in the operation and control of power systems. In this paper, we consider the extended EDP that takes into account transmission losses and propose a distributed algorithm based on the average consensus algorithm and the bisection method. We assume that the total transmission losses can be represented by the B matrix loss formula, and the communication network between generators (nodes) is a connected undirected graph. A leader node is used to broadcast the total demand information by communicating with merely a small part of the nodes. Our algorithm is distributed in the sense that the nodes conduct local computations and communicate with their neighbors. Simulation results are given to show the performance of our algorithm.



2015 
Mou Y, Xing H, Fu M, Lin Z, 'Decentralized PWMbased charging control for plugin electric vehicles', 2015 European Control Conference, ECC 2015 (2015) [E1]
Â© 2015 EUCA.Plugin electric vehicles (PEVs) are becoming increasingly popular because of the environmental and economic benefits. However, high penetration of PEVs may overload ... [more]
Â© 2015 EUCA.Plugin electric vehicles (PEVs) are becoming increasingly popular because of the environmental and economic benefits. However, high penetration of PEVs may overload the distribution network. In this paper, we propose a decentralized PWMbased algorithm to coordinate PEV charging. We first formulate the PEVs charging coordination problem as an optimization problem, with the objective to flatten the total demand curve as much as possible. Then, we design the control algorithm in two stages. In the first stage, we adopt the the waterfillingbased algorithm proposed in our previous study, assuming the charging rate of PEVs takes a continuous value. In the second stage, the assumption is dropped by utilizing the pulsewidth modulation (PWM) principle. The moving horizon idea is also introduced to alleviate the errors due to inaccurate forecast and quantization, as well as to tackle the random arrival time of PEVs. Moreover, each PEV only needs to calculate its own power allocation, and hence its implementation requires low computational capacity. Numerical simulations are given to demonstrate the effectiveness of our algorithm.



2015 
Zhang H, Li L, Fu M, 'Stabilization for discretetime stochastic systems with multiple input delays', 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 (2015) [E1]
Â© 2015 IEEE.This paper is concerned with the stabilization problem for discretetime stochastic systems with multiplicative noise and multiple input delays. Our approach is based... [more]
Â© 2015 IEEE.This paper is concerned with the stabilization problem for discretetime stochastic systems with multiplicative noise and multiple input delays. Our approach is based on a reduction technique, by which the system under consideration is converted into a delayfree system. The necessary and sufficient stabilization condition for stabilization and the associated feedback controller are characterized via a generalized Riccati equation.



2015 
Hou W, Fu M, Zhang H, 'Consensusability of multiagent systems with constant communication delay', Chinese Control Conference, CCC (2015) [E1]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.This paper focus on the consensusability of highorder multiagent systems (MASs) with uniform con... [more]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.This paper focus on the consensusability of highorder multiagent systems (MASs) with uniform constant communication delay in an undirected network. We show that N agents achieve consensus if and only if N  1 timedelay subsystems associated with the eigenvalues of the Laplacian matrix are simultaneously asymptotically stable. By employing a linear matrix inequality (LMI) method, we present a sufficient condition for MASs to reach consensus. Also we consider the consensus condition of firstorder integrator system by using frequency domain analysis.



2015 
Sun Y, Fu M, Wang B, Zhang H, 'Dynamic state estimation in power systems using a distributed MAP method', Chinese Control Conference, CCC (2015) [E1]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.This paper studies a dynamic state estimation problem for power systems, which can be seen as the ... [more]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.This paper studies a dynamic state estimation problem for power systems, which can be seen as the quasistatic systems. The state vector of each subsystem (called node) in power networks is expressed by measurements. Based on a distributed maximum a posteriori (MAP) estimation technique, a fully distributed state estimation method is presented to update the local state at each time instant. Also, the assumption of local observability of every node is no longer needed. Tests on the IEEE 118bus system are used to show the performance of the proposed approach and compare its results with a centralized state estimation method providing the optimal state estimate for the entire power networks, a local state estimation method using the edge measurements as the local measurements to estimate its local state, and a distributed static state estimation algorithm.



2015 
Qi T, Chen J, Su W, Fu M, 'Feedback stabilization of MIMO systems in the presence of stochastic network uncertainties and delays', Chinese Control Conference, CCC (2015) [E1]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.The purpose of this paper is to study stabilization problem of linear timeinvariant systems subje... [more]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.The purpose of this paper is to study stabilization problem of linear timeinvariant systems subject to stochastic multiplicative uncertainties and time delays. We consider a structured multiplicative perturbation which consists of static, zeromean stochastic processes and we assess the stability of system based on meansquare criteria. The meansquare stabilization problem for multiinput multioutput systems generally requires solving an optimization problem involving the spectral radius of a certain closed loop transfer function matrix. This problem in general is nonconvex and by and large unresolved, only approximate solutions are available based on numerical algorithms resembling to the DK iteration for Âµsynthesis. Our main contributions include the fundamental conditions, both necessary and sufficient, which insure that the multiinput multioutput minimum phase systems can be stabilized by output feedback in the meansquare sense. We provide a complete, computationally efficient solution in the form of a generalized eigenvalue problem readily solvable by means of linear matrix inequality optimization. For conceptual insights, limiting cases are analyzed in depth to characterize and quantify explicitly how the directions of unstable poles may affect the meansquare stabilizability of multiinput multioutput systems.



2015 
Xing H, Lin Z, Fu M, 'An ADMM + consensus based distributed algorithm for dynamic economic power dispatch in smart grid', Chinese Control Conference, CCC (2015) [E1]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.In this paper, we propose a distributed algorithm for the dynamic economic dispatch problem (DEDP)... [more]
Â© 2015 Technical Committee on Control Theory, Chinese Association of Automation.In this paper, we propose a distributed algorithm for the dynamic economic dispatch problem (DEDP) in a smart grid scenario. Different from the static economic dispatch problem (SEDP), the DEDP aims at minimizing the aggregate operating costs of a group of generators over a time period with ramp rate constraints. The proposed algorithm is based on the average consensus algorithm on undirected graphs and the alternating direction method of multipliers (ADMM). Our algorithm is distributed in the sense that no leader or master nodes are needed, while all the nodes (generators) conduct local computation and merely communicate with their neighbors. Convergence analysis shows that the proposed algorithm converges to the optimal solution.



2015 
Sun Y, Fu M, Wang B, Zhang H, 'A distributed MAP approach to dynamic state estimation with applications in power networks', 2015 European Control Conference, ECC 2015 (2015) [E1]
Â© 2015 EUCA.This paper studies a state estimation problem for a networked dynamic system characterized by a communication graph. A new distributed state estimation method is base... [more]
Â© 2015 EUCA.This paper studies a state estimation problem for a networked dynamic system characterized by a communication graph. A new distributed state estimation method is based on a distributed MAP (maximum a posteriori) estimation algorithm for each node to update its local state. This distributed method is applied to the state estimation problem for a large power network and illustrated using the IEEE 118bus system. It is shown that the performance of this method is close to that given by a centralized Kalman filtering approach and much better than that given by a local Kalman filtering approach, yet the computational complexity and communication load of the proposed method are low for each node, making the method scalable for largesized networked systems.



2015 
Marelli D, Ninness B, Fu M, 'Distributed Weighted LeastSquares Estimation for Power Networks', IFACPapersOnLine (2015) [E1]
Â© 2015The paper presents a fully distributed scheme to optimal parameter estimation, withapplication in multiarea interconnected power systems. In this scheme, each area perform... [more]
Â© 2015The paper presents a fully distributed scheme to optimal parameter estimation, withapplication in multiarea interconnected power systems. In this scheme, each area performs itsown local parameter estimation based on lowdimensional local and boundary measurementsas well as the estimate of boundary parameters from its neighbors. We show, under certainassumptions, that the distributed estimation scheme provides the same accurate unbiasedestimate as the centralized weighted leastsquares estimate with finite time convergence. Thedistributed estimation scheme is robust to communication link failures, delays, and asynchronismof control centers in different areas. A simulation using the IEEE 118bus system is included todemonstrate the performance.



2015 
Wang Z, Zhang H, Fu M, IEEE, 'Consensus Problems in Networks of Agents with Communication Delay', 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015) (2015) [E1] 


2014 
Guo J, Ren N, Xu Z, Fu M, Sun Y, 'Condition monitoring for train suspension system based on crosscorrelation', 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014 (2014)
Â© 2014 IEEE.The paper improves the crosscorrelation method about the condition monitoring for train suspension systems. The faults of both the spring and the damper are discusse... [more]
Â© 2014 IEEE.The paper improves the crosscorrelation method about the condition monitoring for train suspension systems. The faults of both the spring and the damper are discussed and the improved technique helps quantify the result of the detection in a great accuracy. A sideview model of the vehicle is employed and the simulation verifies the effectiveness of this method.



2014 
Mou Y, Xing H, Lin Z, Fu M, 'A new approach to distributed charging control for plugin hybrid electric vehicles', Proceedings of the 33rd Chinese Control Conference, CCC 2014 (2014) [E1]
Â© 2014 TCCT, CAA.Plugin hybrid electric vehicles (PHEV) tend to become more widespread in the next decades. However, large penetration of PHEVs will overload the distribution sy... [more]
Â© 2014 TCCT, CAA.Plugin hybrid electric vehicles (PHEV) tend to become more widespread in the next decades. However, large penetration of PHEVs will overload the distribution system. In smart grid, the charging of PHEVs can be controlled to reduce the peak load, which is known as demand side management (DSM). In this paper, we focus on the impact of PHEV charging on lowvoltage transformers. The objective is to flatten the load curve of lowvoltage transformers, while each consumer's requirement for their PHEV to be charged to the required level by their specified time is satisfied. We first formulate it as a convex optimization problem and then propose a distributed waterfillingbased algorithm to solve it. Proofs of optimality and numerical simulations are given to demonstrate the effectiveness of our algorithm.



2014 
Ren N, Fu MY, 'Condition monitoring of train suspension systems using a crosscorrelation technique', Proceedings of the 33rd Chinese Control Conference, CCC 2014 (2014) [E1]
Â© 2014 TCCT, CAA.In the recent years, condition monitoring of the train suspension system draws a lot of attention because it acts as the guardian to ensure the safety of the tra... [more]
Â© 2014 TCCT, CAA.In the recent years, condition monitoring of the train suspension system draws a lot of attention because it acts as the guardian to ensure the safety of the train and provides more information for the overhaul. Meanwhile, it makes the train runs steadily and reduces the operating costs. This article focuses on the identification of the train suspension parameters using a crosscorrelation technique. We show that the new method can effectively estimate the coefficients of both the spring and the damping coefficients. Simulation results are presented to show the effectiveness of this method.



2014 
Su W, Chen J, Fu M, Qi T, Wu Y, 'Optimal regulation of linear discretetime systems with multiplicative noises', Proceedings of the 33rd Chinese Control Conference, CCC 2014 (2014) [E1]
Â© 2014 TCCT, CAA.This paper studies optimal regulation problem for networked linear discretetime systems with fading channel. The uncertainties in fading channels are modeled as... [more]
Â© 2014 TCCT, CAA.This paper studies optimal regulation problem for networked linear discretetime systems with fading channel. The uncertainties in fading channels are modeled as multiplicative noises. The regulation performance is measured by a quadratic function. The optimal state feedback is designed by the meansquare stabilization solution to a modified Algebraic Riccati equation (MARE). The necessary and sufficient condition to the existence of the meansquare stabilization is presented in terms of the inherent characterizations of the systems. It is a nature extension for the result in standard optimal discretetime linear quadratic regulation (LQR) problem. We also show that this optimal state feedback design problem is an eigenvalue problem (EVP). And then a design algorithm is developed for this optimal control problem.



2014 
Han T, Lin Z, Xu W, Fu M, 'Threedimensional formation merging control of secondorder agents under directed and switching topologies', IEEE International Conference on Control and Automation, ICCA (2014) [E1]



2014 
Diao Y, Hu G, Marelli D, Lin Z, Fu M, 'Cooperative localization of a cascading quadrilateral network', IEEE International Conference on Control and Automation, ICCA (2014) [E1]



2014 
Han T, Lin Z, Fu M, 'Formation merging control in 3D under directed and switching topologies', IFAC Proceedings Volumes (IFACPapersOnline) (2014) [E1]
Â© IFAC.The paper studies the formation merging problem for a leaderfollower network. That is, how to control a team of agents called followers so that they are merged with a tea... [more]
Â© IFAC.The paper studies the formation merging problem for a leaderfollower network. That is, how to control a team of agents called followers so that they are merged with a team of agents called leaders to form a larger globally rigid formation. Under the premise that a group of leaders move in a globally rigid formation with their synchronized velocity known to the followers, we show that the followers can asymptotically merge themselves to the formation for arbitrarily initial configurations. Each follower selects its neighbors and also its control law according to the target formation they aim to achieve and thus it allows directed and timevarying switching topologies. It is shown that a globally rigid formation can be merged asymptotically for the leaderfollower network in a setup with directed and timevarying graphs if and only if every follower frequently has a joint path from at least a leader.



2014 
Wang L, Lin Z, Fu M, 'Affine formation of multiagent systems over directed graphs', Proceedings of the IEEE Conference on Decision and Control (2014) [E1]
Â© 2014 IEEE.This paper proposes a simple, distributed control protocol for multiagent systems with relative sensing capability over a directed network to achieve an affine forma... [more]
Â© 2014 IEEE.This paper proposes a simple, distributed control protocol for multiagent systems with relative sensing capability over a directed network to achieve an affine formation. In contrast to the linear consensus protocol, the control protocol in this paper takes both positive and negative weights that partially encode the target formation shape and is thus able to achieve a formation pattern rather than just consensus. Having possibly negative weights in a graph, the associated Laplacian is called the generalized Laplacian. The connection between the generic rank property of the generalized Laplacian and the connectivity of a directed graph is established, based on which a necessary and sufficient graphical condition is developed to ensure the emergence of an affine formation by the proposed distributed control protocol.



2014 
Han Z, Lin Z, Fu M, 'A fully distributed approach to formation maneuvering control of multiagent systems', Proceedings of the IEEE Conference on Decision and Control (2014) [E1]
Â© 2014 IEEE.This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant ov... [more]
Â© 2014 IEEE.This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant overall group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the singleintegrator kinematics case and the doubleintegrator dynamics case.



2014 
Xing H, Mou Y, Lin Z, Fu M, 'Fast distributed power regulation method via networked thermostatically controlled loads', IFAC Proceedings Volumes (IFACPapersOnline) (2014) [E1]
Â© IFAC.This paper studies the problem of countering the fluctuations of renewable power supply in smart grid. A fully distributed algorithm to control a network of thermostatical... [more]
Â© IFAC.This paper studies the problem of countering the fluctuations of renewable power supply in smart grid. A fully distributed algorithm to control a network of thermostatically controlled loads (TCLs) is proposed to match, in real time, the aggregated power consumption of the TCLs and the forecast power supply. The algorithm is developed by converting the control problem into a consensus problem of individual utility functions. We then show that the problem is equivalent to a convex optimization problem and an algorithm based on distributed bisection method is presented to solve the problem. The proposed algorithm converges fast and is fully distributed, requiring only local information for each TCL and limited communication with neighboring TCLs, yet the available power supply is fairly dispatched among different TCLs. A numerical example is given to illustrate the effectiveness of the algorithm when applied to a network of variablefrequency airconditioners (VFACs).



2014 
Xing H, Mou Y, Fu M, Lin Z, 'Consensus based bisection approach for economic power dispatch', Proceedings of the IEEE Conference on Decision and Control (2014) [E1]
Â© 2014 IEEE.Economic dispatch problem (EDP) is an important optimization problem in power systems, aiming at minimizing the aggregate cost of a group of power generators, which c... [more]
Â© 2014 IEEE.Economic dispatch problem (EDP) is an important optimization problem in power systems, aiming at minimizing the aggregate cost of a group of power generators, which cooperatively generate a given amount of power within their individual capacity constraints. In this paper, we present an average consensus based bisection approach for the EDP with quadratic cost functions, which is fully distributed and especially desirable in a smart grid scenario. Under the connected topology condition, we show that the proposed iterative solution converges to the globally optimal solution of EDP, without the need for a central decision maker or a leader node. Finally, numerical simulation based on the IEEE 14bus system is given to show the performance of the approach.



2014 
De Souza CE, Coutinho DF, Fu M, 'Stability analysis of finitelevel quantized linear control systems', 2009 European Control Conference, ECC 2009 (2014)
Â© 2009 EUCA.In this paper we investigate the stability of discretetime linear timeinvariant systems subject to finitelevel logarithmic quantized feedback. Both state feedback ... [more]
Â© 2009 EUCA.In this paper we investigate the stability of discretetime linear timeinvariant systems subject to finitelevel logarithmic quantized feedback. Both state feedback and output feedback are considered. We develop an LMI approach to estimate, for a given controller and a given finitelevel quantizer, a set of admissible initial states and an associated attractor set in a neighborhood of the origin such that all state trajectories starting in the first set will converge to the attractor in a finite time and will never leave it. Furthermore, when these two such sets are a priori specified, we develop sufficient conditions for designing a suitable state or output feedback controller, along with a finitelevel logarithmic quantizer.



2014 
Wang L, Han Z, Lin Z, Fu M, 'A linear approach to formation control under directed and switching topologies', Proceedings  IEEE International Conference on Robotics and Automation (2014) [E1]
Â© 2014 IEEE.The paper studies the formation control problem for distributed robot systems. It is assumed each robot only has access to local sensing information (i.e. The relativ... [more]
Â© 2014 IEEE.The paper studies the formation control problem for distributed robot systems. It is assumed each robot only has access to local sensing information (i.e. The relative positions and IDs of its neighbors). Taking into consideration physical sensing constraints (e.g. limited sensing range) and the motion of the robots over time, it may be noted that the sensing graph for the system is directed and timevarying. This presents a challenging situation for formation control. As an initiative attempt to study this challenging situation, we suppose the sensing graph switches among a family of graphs with certain connectivity properties, under which a switching linear control law is then proposed. We show that for arbitrary dwell times or average dwell times, the proposed control law with properly designed control parameters can ensure global convergence to a desired formation shape. The proposed formation control law can be implemented in a distributed manner while the design of certain control parameters requires some global information.



2014 
Sui T, You K, Fu M, 'Stability of Kalman filtering with multiple sensors involving lossy communications', IFAC Proceedings Volumes (IFACPapersOnline) (2014)
Â© IFAC.We study a networked state estimation problem for a linear system with multiple sensors, each of which transmits its measurements to a central estimator via a lossy commun... [more]
Â© IFAC.We study a networked state estimation problem for a linear system with multiple sensors, each of which transmits its measurements to a central estimator via a lossy communication network for computing the minimum meansquareerror (MMSE) state estimate. Under a general Markov packet loss process, we establish necessary and sufficient conditions for the stability of the estimator for any diagonalizable system in the sense that the mean of the state estimation error covariance matrix is uniformly bounded. For the secondorder systems under an i.i.d. packet loss model, the stability condition is expressed as a simple inequality in terms of openloop poles and the packet loss rate.



2014 
Wang B, Fu M, 'Comparison of periodic and eventbased sampling for linear state estimation', IFAC Proceedings Volumes (IFACPapersOnline) (2014)
Â© IFAC.In this paper, the state estimation problem for continuoustime linear systems with two types of sampling is considered. First, the optimal state estimator under periodic ... [more]
Â© IFAC.In this paper, the state estimation problem for continuoustime linear systems with two types of sampling is considered. First, the optimal state estimator under periodic sampling is presented. Then the state estimator with eventbased updates is designed, i.e., when an event occurs the estimator is updated linearly by using the measurement of output, while between the consecutive event times the estimator is updated by minimum meansquared error criteria. The average estimation errors under both sampling schemes are compared quantitatively for first and second order systems, respectively. A numerical example is given to compare the effectiveness of two state estimators.



2014 
Marelli D, Fu M, 'Asymptotic optimality of the maximumlikelihood filter for Bayesian tracking in sensor networks', IFAC Proceedings Volumes (IFACPapersOnline) (2014)
Â© IFAC.A recently proposed Bayesian tracking procedure for sensor networks approximates the update equation, which involves nonlinear measurements, with a simple equation using ... [more]
Â© IFAC.A recently proposed Bayesian tracking procedure for sensor networks approximates the update equation, which involves nonlinear measurements, with a simple equation using the maximum likelihood (ML) estimate of the unknown state. This approach permits a numerically efficient implementation of the tracking procedure, and is suitable for a distributed implementation. In this paper we study the extent to which this approach approximates the theoretical Bayesian solution. We provide conditions to guarantee that the approximation becomes asymptotically exact, as the number of nodes becomes large. This result is relevant in applications where each sensor obtains a measurement with limited information about the state, but a large number of sensors is available. We apply our result to a case study, and present numerical simulations, showing that the approximation error becomes negligible for a relatively small number of nodes.



2014 
Su W, Chen J, Fu M, Qi T, Wu Y, 'Optimal control of linear discretetime systems with quantization effects', 26th Chinese Control and Decision Conference, CCDC 2014 (2014) [E1]
This paper studies optimal control designs for networked linear discretetime systems with quantization effects and/or fading channel. The quantization errors and/or fading channe... [more]
This paper studies optimal control designs for networked linear discretetime systems with quantization effects and/or fading channel. The quantization errors and/or fading channels are modeled as multiplicative noises. The H2 optimal control in meansquare sense is formulated. The necessary and sufficient condition to the existence of the meansquare stabilizing solution to a modified algebraic Riccati equation (MARE) is presented. The optimal H2 control via state feedback for the systems is designed by using the solution to the MARE. It is a nature extension for the result in standard optimal discretetime H2 state feedback design. It is shown that this optimal state feedback design problem is eigenvalue problem (EVP) and the optimal design algorithm is developed. Â© 2014 IEEE.



2013 
Sui T, Fu M, You K, 'Kalman filtering with intermittent observations using measurements coding', IEEE International Conference on Control and Automation, ICCA (2013) [E1]



2013 
Yang Y, Zhang H, Fu M, 'State estimation subject to random network delays without time stamping', 2013 9th Asian Control Conference, ASCC 2013 (2013) [E1]



2013 
Diao Y, Zhang H, Lin Z, Fu M, 'A new distributed localization method for sensor networks', 2013 9th Asian Control Conference, ASCC (2013) [E1]



2013 
Zheng R, Lin Z, Fu M, Sun D, 'Distributed circumnavigation by unicycles with cyclic repelling strategies', 2013 9th Asian Control Conference, ASCC 2013 (2013) [E1]



2013 
Salton A, Chen Z, Zheng J, Fu M, 'Optimal trajectories for the Preview Control of DualStage Actuators', 2013 American Control Conference (ACC) (2013) [E1]



2013 
Wang L, Zheng J, Fu M, 'Optimal preview control of dualstage actuators system for triangular reference tracking', IEEE International Conference on Control and Automation, ICCA (2013) [E1]



2013 
You K, Sui T, Fu M, Song S, 'Stability of the Kalman filtering with two periodically switching sensors over lossy networks', IEEE International Conference on Control and Automation, ICCA (2013) [E1]



2013 
Gao J, Fu M, Ren J, 'Output feedback stabilization of wireless networked control system with packet dropout', IEEE International Conference on Control and Automation, ICCA (2013) [E1]



2013 
Rohr E, Marelli D, Fu M, 'Stability of kalman filters subject to intermittent observations', Proceedings of the IEEE Conference on Decision and Control (2013) [E1]



2013 
Marelli D, Fu M, 'Distributed weighted least squares estimation with fast convergence in largescale systems', Proceedings of the IEEE Conference on Decision and Control (2013) [E1]



2013 
Chai G, Lin Z, Fu M, 'Consensusbased cooperative source localization of multiagent systems', 2013 32nd Chinese Control Conference, CCC 2013 (2013) [E1]



2013 
Tai X, Lin Z, Fu M, Sun Y, 'A new distributed state estimation technique for power networks', Proceedings of the American Control Conference (2013) [E1]



2013 
Diao Y, Zhang H, Lin Z, Fu M, 'Localizability and distributed localization of sensor networks using relative position measurements', Proceedings of the 13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, 2013 (2013) [E1]



2013 
Lin Z, Chen Z, Fu M, 'A linear control approach to distributed multiagent formations in ddimensional space', Proceedings of the IEEE Conference on Decision and Control (2013) [E2]
The paper presents a linear approach for formation control of multiple autonomous agents in ddimensional space. The generalized notion of graph Laplacian, associated to a graph w... [more]
The paper presents a linear approach for formation control of multiple autonomous agents in ddimensional space. The generalized notion of graph Laplacian, associated to a graph with possibly negative weights on the edges, is introduced aiming to solve the formation problem of controlling a network of point agents to form a given pattern (including rotation, translation, and scaling). By assuming the number of agents is larger than d + 1, we derive that a linear distributed control law exists for this purpose if and only if certain algebraic conditions hold (or equivalently, the graph is globally rigid). Next, it is shown that the generalized graph Laplacian used to stabilize the formations can be obtained by solving a convex optimization problem. Further results are also provided to reveal the conditions under which the attained formations are congruent to or just translations of the desired one. Â© 2013 IEEE.



2012 
Diao Y, Fu M, Zhang H, 'Comparison of node localization methods for sensor networks', 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 (2012) [E1]



2012 
Cui P, Fu M, 'Stability analysis of a distributed state estimator for linear systems', 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 (2012) [E1]



2012 
Zheng J, Fu M, 'A simple robust controller for hysteresis and resonance compensation of piezoelectric actuators', 2012 12th International Conference on Control, Automation, Robotics and Vision, ICARCV 2012 (2012) [E1]



2012 
Zheng J, Fu M, 'A switching controller for piezoelectric microactuators in dualstage actuator hard disk drives', 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 (2012) [E1]



2012 
Marelli DE, Fu M, 'On identification of linear systems with quantized and intermittent information', Proceedings 16th IFAC Symposium on System Identification (2012) [E1] 


2012 
Han C, Zhang H, Fu M, 'Optimal filtering for networked systems with Markovian communication delays', Proceedings of the 31st Chinese Control Conference, CCC 2012 (2012) [E2]



2012 
Liu S, Li T, Xie L, Fu M, Zhang J, 'Sampleddata based average consensus with logarithmic quantizers', Proceedings of the 31st Chinese Control Conference, CCC 2012 (2012) [E2] 


2012 
Diao Y, Fu M, Zhang H, 'New results on node localizable conditions for sensor networks', Proceedings of the 51st IEEE Conference on Decision and Control (2012) [E1]



2012 
Fu M, Chai L, 'Infinite horizon lqg control with fixedrate quantization', Proceedings of the 51st IEEE Conference on Decision and Control (2012) [E1] 


2011 
Rath Rohr E, Marelli DE, Fu M, 'A unified framework for mean square stability of Kalman filters with intermittent observations', 2011 9th IEEE International Conference on Control and Automation (ICCA) (2011) [E1]



2011 
Salton AT, Chen Z, Fu M, 'Improved servomechanism control design  Dynamically damped case', 2011 9th IEEE International Conference on Control and Automation (ICCA) (2011) [E1]



2011 
Tai X, Marelli DE, Rath Rohr E, Fu M, 'Optimal PMU placement for power system state estimation with random communication packet losses', 2011 9th IEEE International Conference on Control and Automation (ICCA) (2011) [E1]



2011 
Zheng J, Fu M, 'Highbandwidth control design for a piezoelectric nanopositioning stage', 2011 9th IEEE International Conference on Control and Automation (ICCA) (2011) [E1]



2011 
Marelli DE, You K, Fu M, 'Identification of ARMA models using intermittent and quantized output observations', 2011 IEEE International Conference on Acoustics, Speech and Signal Processing. Proceedings (2011) [E1]



2011 
You K, Fu M, Xie L, 'Necessary and sufficient conditions for stability of Kalman Filtering with Markovian packet losses', Proceedings of the 18th IFAC World Congress, 2011 (2011) [E1]



2011 
Zheng J, Fu M, 'Nested switching control design for fast PZT actuated nanopositioning', Proceedings of the 18th IFAC World Congress, 2011 (2011) [E1]



2011 
Salton AT, Chen Z, Fu M, 'Improved servomechanism control design  Nonswitching case', Proceedings of the 18th IFAC World Congress, 2011 (2011) [E1]



2011 
Su W, Qi T, Chen J, Fu M, 'Optimal tracking design of an MIMO linear system with quantization effects', Proceedings of the 18th IFAC World Congress, 2011 (2011) [E1]



2011 
Bai J, Fu M, Su H, 'Delay modeling and estimation of a wireless based network control system', Proceedings of 2011 8th Asian Control Conference (ASCC) (2011) [E1]



2011 
Wei L, Zhang H, Fu M, 'Quantized control for stochastic system', Proceedings of the 30th Chinese Control Conference (2011) [E1]



2011 
Tai X, Marelli DE, Fu M, 'Power system dynamic state estimation with random communication packets loss', Proceedings of the 2011 4th International Symposium on Advanced Control of Industrial Processes (2011) [E1]



2011 
Rath Rohr E, Marelli DE, Fu M, 'Kalman filtering for a class of degenerate systems with intermittent observations', 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDCECC) (2011) [E1]



2011 
Rath Rohr E, Marelli DE, Fu M, 'Kalman filtering with intermittent observations: Bounds on the error covariance distribution', 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDCECC) (2011) [E1]



2010 
Han C, Zhang H, Fu M, 'Linear estimation for discretetime systems with Markov jump delays', 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010 (2010) [E1]



2010 
Wei L, Zhang H, Fu M, 'Finitehorizon quantized estimation using sector bound approach', Proceedings of the 8th World Congress on Intelligent Control and Automation, WCICA 2010 (2010) [E1]



2010 
Salton AT, Chen Z, Zheng J, Fu M, 'Continuous preview control of dualstage actuator systems for reduced transition time', 2010 49th IEEE Conference on Decision and Control (2010) [E1]



2010 
Rath Rohr E, Marelli DE, Fu M, 'Statistical properties of the error covariance in a Kalman filter with random measurement losses', 49th IEEE Conference on Decision and Control (2010) [E1]



2010 
Zheng J, Fu M, 'A unified dualstage actuator control scheme for track seeking and following in hard disk drives', Proceedings  8th IEEE International Conference on Control and Automation, ICCA 2010 (2010) [E1]



2009 
Marelli DE, Mahata K, Fu M, 'Optimal design of hybrid filterbank analogtodigital converters using input statistics', 2009 IEEE International Conference on Acoustics, Speech, and Signal Processing: Proceedings (2009) [E1]



2009 
You K, Su W, Fu M, Xie L, 'Optimality of the logarithmic quantizer for stabilization of linear systems: Achieving the minimum data rate', Proceedings of the IEEE Conference on Decision and Control (2009) [E1]



2009 
Zheng J, Fu M, 'A reset kinematic state estimator to suppress sensor quantization for enhanced position tracking control', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009 (2009) [E1]



2009 
Zheng J, Salton AT, Fu M, 'A novel rotary dualstage actuator positioner', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009 (2009) [E1]



2009 
Li T, Fu M, Xie L, Zhang JF, 'Quantized consensus over expander networks and communication energy minimization', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009 (2009) [E1]



2009 
Xiao N, Xie L, Fu M, 'Quantized stabilization of markov jump linear systems via state feedback', Proceedings of the American Control Conference (2009) [E1]



2009 
Zheng J, Fu M, Du C, Wang Y, Xie L, 'Sensitivity loop shaping for disturbance rejection in hard disk drives', 2009 IEEE International Conference on Control and Automation, ICCA 2009 (2009) [E1]



2009 
Salton AT, Chen Z, Fu M, 'A class of preview control for dualstage actuator systems', 7th IEEE International Conference on Control and Automation, ICCA 2009 (2009) [E1]



2009 
Li T, Fu M, Xie L, Zhang JF, 'Distributed consensus of multiagent systems with finitelevel quantization', Proceedings of the 2009 7th Asian Control Conference, ASCC 2009 (2009) [E1]



2009 
Tai X, Fu M, 'On parameter estimation of the SchwartzSmith shortterm/longterm model', Proceedings of the 2009 7th Asian Control Conference, ASCC 2009 (2009) [E1] 


2009 
De Souza CE, Coutinho DF, Fu M, 'Stability analysis of finitelevel quantized linear control systems', ECC'09: European Control Conference 2009 Proceedings (2009) [E1] 


2009 
Fu M, 'Linear quadratic Gaussian control with quantized feedback', Proceedings of the American Control Conference (2009) [E1]



2009 
Zheng J, Su W, Fu M, 'Twodegreeoffreedom control of a dualstage actuator positioning system for shortspan tracking', Proceedings of the American Control Conference (2009) [E1]



2008 
Marelli DE, Fu M, Balazs P, Majdak P, 'An iterative method for approximating LTI systems using subbands', 2008 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (2008) [E1]



2008 
Marelli DE, Mahata K, Fu M, 'Linear LMS compensation for timing mismatch in timeinterleaved ADCs', Proceedings  34th Annual Conference of the IEEE Industrial Electronics Society (IECON 2008) (2008) [E1]



2008 
Fu M, Xie L, Su W, 'Connections between quantized feedback control and quantized estimation', 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 (2008) [E1]



2008 
Coutinho D, Fu M, De Souza CE, 'Output feedback control of linear systems with input and output quantization', Proceedings of the 47th IEEE Conference on Decision and Control (2008) [E1]



2008 
Fu M, 'Quantization for feedback control and estimation', Proceedings of the 27th Chinese Control Conference (2008) [E1] 


2007 
Zheng J, Guo Y, Fu M, Wang Y, Xie L, 'Improved reset control design for a PZT positioning stage', Proceedings of the 16th IEEE International Conference on Control Applications. CCA 2007 (2007) [E1]



2007 
Mahata K, Fu M, 'On the Reconstruction of ContinuousTime Models from Estimated DiscreteTime Models of Stochastic Processes', Preprints of the 14th IFAC Symposium on System Identification (2007) [E1]



2007 
Marelli DE, Fu M, 'Exact identification of continuoustime systems from sampled data', Proceedings of the 2007 IEEE International Conference on Acoustics, Speech, and Signal Processing (2007) [E1]



2007 
Trajkovic V, Fu M, Schreier PJ, 'Turbo Equalization With Irregular Turbo Codes', Proceedings of the 4th IEEE International Symposium on Wireless Communication Systems (2007) [E1]



2007 
Zheng J, Fu M, 'Nonlinear tracking control for dualstage actuator systems', Proceedings of the 2007 American Control Conference. ACC '07 (2007) [E1]



2007 
Zheng J, Guo Y, Fu M, Wang Y, Xie L, 'Improved reset control design for a PZT positioning stage', PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, VOLS 13 (2007) 


2007 
Zheng J, Guo Y, Fu M, Wang Y, Xie L, 'Improved reset control design for a PZT positioning stage', PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 13 (2007) 


2007 
Fu M, Xie L, 'Dynamic quantized feedback control design for uncertain linear systems', 2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 17 (2007) 


2007 
Zheng J, Fu M, Wang Y, Du C, 'Nonlinear tracking control for a hard disk drive dualstage actuator system', 2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 17 (2007) 


2007 
Zheng J, Fu M, 'Nonlinear tracking control for dualstage actuator systems', 2007 AMERICAN CONTROL CONFERENCE, VOLS 113 (2007) 


2007 
Trajkovic VD, Fu M, Schreier PJ, 'NearCapacity Turbo Equalization Using Optimized Turbo Codes', 2007 AUSTRALASIANTELECOMMUNICATION NETWORKS AND APPLICATIONS CONFERENCE (2007) 


2007 
Zheng J, Fu M, Wang YY, Du CL, 'Nonlinear tracking control for a hard disk drive dualstage actuator system', Sixth IEEE International Conference on Control and Automation. ICCA 2007. Proceedings (2007) [E1] 


2007 
Fu M, Xie L, 'Dynamic quantized feedback control design for uncertain linear systems', Sixth IEEE International Conference on Control and Automation. ICCA 2007. Proceedings (2007) [E1] 


2007 
Trajkovic V, Fu M, Schreier PJ, 'Nearcapacity turbo equalization using optimized turbo codes', 2007 Australasian Telecommunication Networks and Applications Conference. Proceedings (2007) [E1] 


2007 
De Souza CE, Fu M, Barbosa KA, 'Robust Filtering for Uncertain Linear DiscreteTime Descriptor Systems', Preprints of the 14th IFAC Symposium on System Identification (2007) [E1]



2006 
Mahata K, Fu M, 'A robust interpolation algorithm for spectral estimation', 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing, Vol III, Proceedings (2006)



2006 
Hanlen L, Fu MY, 'Wireless communication systems with spatial diversity: A volumetric model', IEEE TRANSACTIONS ON WIRELESS COMMUNICATIONS (2006)



2006 
Ning J, Fu M, 'SymbolWise Interleaving for Serially Concatenated Continuous Phase Modulation', 12th Digital Signal Processing Workshop  4th Signal Processing Education Workshop (2006) [E2] 


2006 
Fu M, Xie L, 'On design of finitelevel quantization feedback control', Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems (2006) [E1] 


2006 
Mahata K, Fu M, 'Modeling ContinousTime Stochastic Processes Using InputToState Filters', 16th World Congress of the International Federation of Automatic Control (2006) [E1]



2006 
Fu M, Huang J, 'Robust Output Regulation of Linear Systems With Structural Uncertainties', Proceedings of 16th IFAC World Congress (2006) [E1] 


2006 
Fu M, Hara S, 'Quantized Feedback Control For SampledData Systems', Proceedings of 16th IFAC World Congress (2006) [E1] 


2006 
Ning J, Fu M, 'Symoblwise interleaving for serially concatenated continuous phase modulation', 2006 IEEE 12TH DIGITAL SIGNAL PROCESSING WORKSHOP & 4TH IEEE SIGNAL PROCESSING EDUCATION WORKSHOP, VOLS 1 AND 2 (2006)



2006 
Fu M, Xie L, 'FiniteLevel Quantized Feedback Control for Linear Systems', 45th IEEE Conference on Decision and Control Proceedings (2006) [E1]



2006 
Zheng J, Guo G, Wang Y, Fu M, 'A Generalized Disturbance Filter Design and its Applications to a Spinstand Servo System with Microactuator', 2006 9th International Conference on Control, Automation, Robotics and Vision (2006) [E1] 


2006 
Fu M, 'On Gaussian Approximation for Density Evolution of LowDensity ParityCheck Codes', 2006 IEEE International Conference on Communications (2006) [E1]



2006 
Mahata K, Fu M, 'A Robust Interpolation Algorithm for Spectral Estimation', ICASSP 2006 Proceedings, 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing (2006) [E1]



2005 
Fu M, 'Stochastic models for turbo decoding', ICC 2005: IEEE International Conference on Communications (2005) [E1] 


2005 
Fu M, 'Dynamic Modeling And Analysis of Iterative Decoding for Turbo Codes', Proceedings of 2005 International Conference on Control and Automation (2005) [E1]



2005 
Ning J, Fu M, Wade GJ, 'Turbocoded Multialphabet Binary CPM for Concatenated Continuous Phase Modulation', Proceedings of Globecom 05 IEEE Global Telecommunications Conference (2005) [E1] 


2005 
Mahata K, Fu M, 'On Constrained Covariance Extension Problems', Proceedings of 44th IEEE Conference on Decision and Control (2005) [E1]



2005 
Fu M, Mahata K, 'Generalizations of the NevanlinnaPick Interpolation Problem', Proceedings of 44th IEEE Conference on Decision and Control (2005) [E1]



2004 
Fu M, 'On separation principle for linear quadratic control with input saturation', Proceedings of 5th World Congress on Intelligent Control and Automation (CDROM) (2004) [E1] 


2004 
Marelli DE, Fu M, 'Notions of strong ergodicity for stochastic analysis of multirate systems', 2004 IEEE International Conference on Acoustics, Speech, and Signal Processing: Proceedings (2004) [E1]



2004 
Fu M, Barmish BR, 'A separation principle for robust stabilization of linear systems', Proceedings of 43 IEEE Conference on Decision and Control (CD ROM) (2004) [E1] 


2004 
Hanlen LW, Fu M, 'On pointwise models for mimo wireless systems', Proceedings of Globecom 2004 IEEE Global Telecommunications Conference (2004) [E1] 


2004 
Fu M, Barmish, 'On the stepwise Hurwitz property: a new tool for robust output feedback stabilization', Proceedings of the American Control Conference 2004 (2004) [E1]



2003 
Fu M, Xie L, 'Performance Control of Linear Systems using Quantized Feedback', Proceedings for ICCA 2003 (CD ROM) (2003) [E1]



2003 
Hanlen LW, Fu M, 'Capacity of MIMO Channels: a Volumetric Approach', Proceedings for ICC 2003 (CD ROM) (2003) [E1]



2003 
Hanlen LW, Fu M, 'Wireless Communications Systems with Spatial Diversity: A Volumetric Approach', Proceedings for ICC 2003 (CD ROM) (2003) [E1]



2003 
Marelli DE, Fu M, 'Subband Methods for OFDM Equalization', Proceedings for ICC 2003 (CD ROM) (2003) [E1]



2003 
Fu M, Xie L, 'On Control of Linear Systems using Quantized Feedback', Proceeding for the ACC 2003 (CD ROM) (2003) [E1]



2003 
Coutinho DF, Fu M, Trofino A, 'Guaranteed Cost Analysis and Control for a Class of Uncertain Nonlinear DiscreteTime Systems', Proceedings for the 2003 ACC (CD ROM) (2003) [E1]



2003 
Lu L, Xie L, Fu M, 'Optimal Control of Networked Systems with Limited Communication: a Combined Heuristic and Convex Optimization Approach', Proceedings for CDC 2003 (2003) [E1]



2003 
Fu M, 'Robust Stabilization of Linear Uncertain Systems via Quantized Feedback', Proceedings for CDC 2003 (CD ROM) (2003) [E1]



2003 
Ning J, Jakobs RH, Wade GJ, Fu M, Tomlinson M, 'SCCCCPM in a Ricean Fading Channel', Proceedings for DSPCS '03 & WITSP '03 (2003) [E1] 


2002 
Hanlen LW, Fu M, 'Multiple Antenna Wireless Communication Systems: Limits to Capacity Growth', IEEE Wireless Communications and Networking Conference (2002) [E1]



2002 
Coutinho DF, Trofino A, Fu M, 'Nonlinear HInfinity Control: An LMI Approach', 15th Triennial World Congress (2002) [E1] 


2002 
Coutinho DF, Fu M, 'Optimal Control of Linear Systems with Input Saturation Using IQCS', 15th Triennial World Congress (2002) [E1] 


2002 
Coutinho DF, Fu M, Trofino A, 'Regional Stability and Performance Analysis for a Class of Nonlinear DiscreteTime Systems', Proceedings of the 41st IEEE Conference on Decision and Control (2002) [E1]



2002 
Hanlen LW, Fu M, 'MIMO Wireless Systems: Capacity Limits for Sparse Scattering', Proceedings 3rd Australian Communications Theory Workshop 2002 (2002) [E1] 


2002 
Wade GJ, Fu M, Jakobs RH, Ning J, Tomlinson M, Ambroze A, 'On CPM System Design and Simulation', Conference Proceedings ICITA 2002 (2002) [E1] 


2002 
Marelli DE, Fu M, 'Convergence Properties of Subband Identification', The 4th Asian Control Conference (2002) [E1] 


2001 
Marelli DE, Fu M, 'On the use of oversampling in subband identification', 2001 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, VOLS IVI, PROCEEDINGS (2001) 


2001 
Marelli DE, Fu M, 'Optimized Filterbank Design for Subband Identification with Oversampling', The 2001 IEEE International Conference on Acoustics, Speech, and signal Processing (2001) [E1]



2001 
Coutinho D, Trofino A, Fu M, 'Guaranteed Cost Control of Uncertain Nonlinear Systems via Polynomial Lyapunov Functions', Proceedings of 40th IEEE Conference on Decision and Control (2001) [E1]



2001 
Bai E, Fu M, 'A Blind Approach to Hammerstein Model Identification', Proceedings of 40th IEEE Conference on Decision and Control (2001) [E1]



2000 
Marelli DE, Fu M, 'A Comparative Study on Subband Identification', CDC Downunder (CDRom) (2000) [E1]



2000 
Su W, Fu M, 'Robust Nonlinear Forwarding Design', ICARCV2000 (2000) [E1] 


2000 
Ozkocak T, Fu M, Goodwin GC, 'Maceration Control of a Sugar Cane Crushing Mill', Proceedings of the American Control Conference (2000) [E1]



2000 
De Souza CE, Fu M, Trofino A, 'Robust H Filter Design via ParameterDependent Lyapunov Functions', ROCOND 2000 (2000) [E1] 


2000 
Fu M, 'Linear Quadratic Control with Input Saturation', Robust Control Workshop 2000  Workshop Proceedings (CDRom) (2000) [E2] 


1999 
Su W, Fu M, 'Robust Nonlinear Forwarding with Smooth State Feedback Control', IFAC World Congress 1999 (1999) [E1] 


1999 
Fu M, De Souza CE, Dasgupta S, 'Robustness Analysis of Linear Systems with TimeVarying Parameters', Proceedings of the 38th Conference on Decision and Control (1999) [E1]



1999 
Fu M, De Souza CE, Luo Z, 'Finite Horizon Robust Kalman Filter Design', Proceedings of the 38th Conference on Decision and Control (1999) [E1]



1999 
Su W, Fu M, 'Robust Nonlinear Control: Beyond Backstepping and Nonlinear Forwarding', Proceedings of the 38th Conference on Decision and Control (1999) [E1]



1999 
Fu M, de Souza CE, Luo ZQ, 'Finite horizon robust Kalman filter design', Proceedings of the IEEE Conference on Decision and Control (1999)
In this paper, we study the problem of finite horizon Kalman filtering for systems involving a normbounded uncertain block. A new technique is presented for robust Kalman filter ... [more]
In this paper, we study the problem of finite horizon Kalman filtering for systems involving a normbounded uncertain block. A new technique is presented for robust Kalman filter design. This technique involves using multiple scaling parameters which can be optimized by solving a semidefinite program. The use of optimized scaling parameters leads to an improved design. Also proposed is a recursive design method which can be applied to realtime applications.



1998 
Fu MY, Xie LH, Li HZ, 'Passivity analysis for uncertain signal processing systems', PROCEEDINGS OF THE 1998 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING, VOLS 16 (1998) 


1998 
Jahromi OS, MasnadiShirazi MA, Fu M, 'A Fast O(N) Algorithm for Adaptive Filter Bank Design', ICASSP '98 (1998) [E1]



1998 
Fu M, Xie L, Li H, 'Passivity Analysis for Uncertain Signal Processing Systems', ICASSP '98 (1998) [E1]



1998 
Bai EW, Fu M, Tempo R, Ye Y, 'Analytic Center Approach to Parameter Estimation: Convergence Analysis', ICASSP'98 (1998) [E1] 


1998 
Zhang B, Fu M, Yan H, 'Handwritten signature verification by a neural 'gas' based vector quantization', Proceedings of 1998 14th International Conference on Pattern Recognition (1998) [E1]



1998 
Zhang B, Fu M, Yan H, 'A modular classification scheme with elastic net models for handwritten digit recognition', Proceedings of 1998 14th International Conference on Pattern Recognition (ICPR98) (1998) [E1] 


1998 
Bai EW, Fu M, Tempo R, Ye Y, 'Analytic Center and Maximum Likelihood Estimators', Proceedings of 37th IEEE Conference on Decision and Control (1998) [E1] 


1998 
Ozkocak T, Fu M, Goodwin GC, 'A nonlinear modelling approach to the sugar cane crushing process', Proceedings of the 37th IEEE Conference on Decision and Control (1998) [E1]



1998 
Su W, Fu M, 'Robust Stabilization of a Class of Nonlinear Systems with an Uptriangular Structure', Proceedings of the 37th IEEE Conference on Decision and Control (1998) [E1]



1998 
Nguang SK, Fu M, 'Robust H(Infinity) Control for a class of Nonlinear Systems: A LMI Approach*', Proceedings of the 37th IEEE Conference on Decision and Control (1998) [E1]



1998 
LopezValcarce R, Dasgupta S, Tempo R, Fu M, 'Stability Conditions for the TimeVarying Linear Predictor', Proceedings of the 37th IEEE Conference on Decision and Control (1998) [E1] 


1998 
Meinsma G, Iwasaki T, Fu M, 'On Stability Robustness with Respect to LTV Uncertainties', Proceedings of the 37th IEEE Conference on Decision and Control. (1998) [E1]



1998 
Moheimani SO, Fu M, 'Spatial H2 norm of flexible structures and its application in model order selection', Proceedings on the 37th IEEE Conference on Decision and Control (1998) [E1]



1998 
Zhang B, Fu M, Yan H, 'Application of Neual 'Gas' Model in Image Compression', WCCCI98, 1998 IEEE World Congress on Computational Intelligence (1998) [E1] 


1998 
Zhang B, Fu M, Yan H, 'Handwritten Digit Recognition by Neual 'Gas' Model and Population Decoding', WCCCI98, 1998 IEEE World Congress on Computational Intelligence (1998) [E1] 


1998 
Zhang BL, Fu MY, Yan H, 'Subjectbased modular eigenspace scheme for face recognition', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (1998)
Â© SpringerVerlag Berlin Heidelberg 1998.Face recognition is an important research area with many potential applications such as biometric security. Among various techniques, eig... [more]
Â© SpringerVerlag Berlin Heidelberg 1998.Face recognition is an important research area with many potential applications such as biometric security. Among various techniques, eigenface method by principal component analysis (PCA) of face images has been widely used. In traditional eigenface methods, PCA was used to get the eigenvectors of the covariance matrix of a training set of face images and recognition was achieved by applying a template matching scheme with the vectors obtained by projecting new faces along a small number of eigenfaces. In order to avoid the time consuming step of recomputing eigenfaces when new faces are added, we use a set of modules to generate PCA based face representation for each subjects instead of PCA of entire face images. The localized nature of the representation makes the system easy to maintain and tolerant of local facial characteristic changes. Results indicate that the modular scheme yield accurate recognition on the widely used Olivetti Research Laboratory (ORL) face database.



1997 
Bai EW, Tempo R, Fu M, 'Worstcase properties of the uniform distribution and randomized algorithms for robustness analysis', PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 16 (1997)



1997 
Schwarz C, Dasgupta S, Fu MY, 'Dyadic factorization of all pass IIR linear time varying analysis banks in multirate signal processing', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15 (1997) 


1997 
Zhivoglyadov PV, Middleton RH, Fu M, 'Localization based switching adaptive control for timevarying discrete time systems', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15 (1997)



1997 
Dasgupta S, Schwarz C, Fu MY, 'A lattice structure for perfect reconstruction linear time varying filter banks with all pass analysis banks', 1997 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, VOLS I  V (1997) 


1997 
Zhivoglyadov PV, Middleton RH, Fu M, 'Localization based switching adaptive controllers', ECC 1997  European Control Conference (1997)
Many different types of adaptive or "universal controllers", capable of dealing with a very broad range of linear timeinvariant systems, have been proposed. One class of such con... [more]
Many different types of adaptive or "universal controllers", capable of dealing with a very broad range of linear timeinvariant systems, have been proposed. One class of such controllers uses switching between a unite, or at least countable, number of fixed controllers until stability is detected. Such controllers are very attractive from a theoretical viewpoint, in providing stabilization and asymptotic performance for a broad class of plants. However, such controllers are also known to have very poor transient properties, due to the long time required to search for a stabilizing feedback. The key contribution of this paper is to introduce the "method of localization" which can greatly improve the speed of the search. The method is described for linear timeinvariant discrete time systems of known nominal order, with disturbances and noise present. Analysis and simulations demonstrate the potential for greatly improved transient performance.



1997 
Zhivoglyadov PV, Middleton RH, Fu M, 'Localization based switching adaptive controllers', ECC 1997  European Control Conference (1997)
Many different types of adaptive or "universal controllers", capable of dealing with a very broad range of linear timeinvariant systems, have been proposed. One class of such con... [more]
Many different types of adaptive or "universal controllers", capable of dealing with a very broad range of linear timeinvariant systems, have been proposed. One class of such controllers uses switching between a unite, or at least countable, number of fixed controllers until stability is detected. Such controllers are very attractive from a theoretical viewpoint, in providing stabilization and asymptotic performance for a broad class of plants. However, such controllers are also known to have very poor transient properties, due to the long time required to search for a stabilizing feedback. The key contribution of this paper is to introduce the "method of localization" which can greatly improve the speed of the search. The method is described for linear timeinvariant discrete time systems of known nominal order, with disturbances and noise present. Analysis and simulations demonstrate the potential for greatly improved transient performance.



1997 
Fu M, Dasgupta S, 'Computational complexity of real structured singular value in lp setting', ECC 1997  European Control Conference (1997)
This paper studies the structured singular value (Âµ) problem with real parameters bounded by an l<inf>p</inf> norm. Our main result shows that this generalized Âµ problem is NPh... [more]
This paper studies the structured singular value (Âµ) problem with real parameters bounded by an lp norm. Our main result shows that this generalized Âµ problem is NPhard for any given rational number p Â¿ [1, 8], whenever Â¿, the size of the smallest repeated block, exceeds 1. This result generalizes the known result that the conventional Âµ problem (with p = 8) is NPhard. However, our proof technique is different from the known proofs for the p = 8 case as these proofs do not generalize to p Â¿ 8. For Â¿ = 1 and p = 8, the Âµ problem is known to be NPhard. We provide an alternative proof of this result. For Â¿ = 1 and p finite the issue of NPhardness remains unresolved. When every block has size 1, and p = 2 we outline some potential difficulties in computing Âµ.



1997 
Fu M, Li H, Niculescu SI, 'Robust stability analysis for timedelay systems using the integral quadratic constraint approach', ECC 1997  European Control Conference (1997)
Given a timedelay system, we are interested in finding new robust stability conditions for the system. We apply the integral quadratic constraint approach to obtain two results w... [more]
Given a timedelay system, we are interested in finding new robust stability conditions for the system. We apply the integral quadratic constraint approach to obtain two results which allow us to test the robust stability using the linear matrix inequality technique. Both results give an estimate of the maximum timedelay which preserves robust stability. The first result is simpler to apply while the second one gives a less conservative robust stability condition.



1997 
Fu M, Dasgupta S, 'Computational complexity of real structured singular value in lp setting', ECC 1997  European Control Conference (1997)
This paper studies the structured singular value (Âµ) problem with real parameters bounded by an lp norm. Our main result shows that this generalized Âµ problem is NPhard for any... [more]
This paper studies the structured singular value (Âµ) problem with real parameters bounded by an lp norm. Our main result shows that this generalized Âµ problem is NPhard for any given rational number p Â¿ [1, 8], whenever Â¿, the size of the smallest repeated block, exceeds 1. This result generalizes the known result that the conventional Âµ problem (with p = 8) is NPhard. However, our proof technique is different from the known proofs for the p = 8 case as these proofs do not generalize to p Â¿ 8. For Â¿ = 1 and p = 8, the Âµ problem is known to be NPhard. We provide an alternative proof of this result. For Â¿ = 1 and p finite the issue of NPhardness remains unresolved. When every block has size 1, and p = 2 we outline some potential difficulties in computing Âµ.



1997 
Fu M, Li H, Niculescu SI, 'Robust stability analysis for timedelay systems using the integral quadratic constraint approach', ECC 1997  European Control Conference (1997)
Given a timedelay system, we are interested in finding new robust stability conditions for the system. We apply the integral quadratic constraint approach to obtain two results w... [more]
Given a timedelay system, we are interested in finding new robust stability conditions for the system. We apply the integral quadratic constraint approach to obtain two results which allow us to test the robust stability using the linear matrix inequality technique. Both results give an estimate of the maximum timedelay which preserves robust stability. The first result is simpler to apply while the second one gives a less conservative robust stability condition.



1996 
Chen S, Fu M, 'Computer assisted language learning in teacher education: Training of tones and stress patterns in Asian languages', 1996 IEEE INTERNATIONAL CONFERENCE ON MULTI MEDIA ENGINEERING EDUCATION, CONFERENCE PROCEEDINGS (1996)



1996 
Tan BT, Fu MY, Spray A, Dermody P, 'The use of wavelet transforms in phoneme recognition', ICSLP 96  FOURTH INTERNATIONAL CONFERENCE ON SPOKEN LANGUAGE PROCESSING, PROCEEDINGS, VOLS 14 (1996)



1996 
Meinsma G, Shrivastava Y, Fu MY, 'A dual of mixed mu and on the losslessness of (D,G)scaling', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996)



1996 
Dasgupta S, Chockalingam G, Fu MY, 'Stability and passivity analysis of systems with time varying parameters', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996)



1996 
Bai EW, Fu MY, 'Blind system identification and channel equalization for IIR systems', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996)



1996 
Fu MY, Dasgupta S, 'New extreme point results on robust strict positive realness', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996) 


1996 
Dasgupta S, Fu MY, Schwarz C, 'Robust relative stability of timeinvariant and timevarying lattice filters', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996) 


1996 
Fu MY, 'Minimum switching control for adaptive tracking', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1996)



1996 
Tan BT, Dermody P, Fu MY, Spray A, 'The effect of external and middle ear filtering on automatic phoneme recognition', ISSPA 96  FOURTH INTERNATIONAL SYMPOSIUM ON SIGNAL PROCESSING AND ITS APPLICATIONS, PROCEEDINGS, VOLS 1 AND 2 (1996)



1996 
Fu MY, Dasgupta S, Williamson GA, 'Algorithms for optimal multirate filter bank design', ISSPA 96  FOURTH INTERNATIONAL SYMPOSIUM ON SIGNAL PROCESSING AND ITS APPLICATIONS, PROCEEDINGS, VOLS 1 AND 2 (1996)



1996 
Dasgupta S, Fu M, Schwarz C, 'Robust relative stability of timeinvariant and timevarying lattice filters', Proceedings of the IEEE Conference on Decision and Control (1996)
We consider the relative stability of time invariant and time varying unnormalized lattice filters. First, we consider a set of lattice filters whose reflection parameters ai, obe... [more]
We consider the relative stability of time invariant and time varying unnormalized lattice filters. First, we consider a set of lattice filters whose reflection parameters ai, obey ai = di, and provide necessary and sufficient conditions on the di that guarantee that each time invariant Lattice in the set has poles inside a circle of prescribed radius 1/Â¿ < 1, i.e. they are relatively stable with degree of stability ln Â¿. We also show that the relative stability of the whole family is equivalent to the relative stability of a single filter obtained by fixing each ai to di, and can be checked with only the real poles of this filter. Counterexamples are given to show that a number of properties that hold for stability of LTI Lattices do not apply to relative stability verification. Second, we give a diagonal Lyapunov matrix that is useful in checking the above pole condition. Finally, we consider the time varying problem where the reflection coefficients vary in a region where the frozen transfer functions have poles with magnitude less than 1/Â¿, and provide bounds on their rate of variations that ensure that the zero input state solution of the time varying Lattice decays exponentially at a rate faster than 1/Â¿' > 1/Â¿.



1996 
Fu M, Dasgupta S, 'New extreme point results on robust strict positive realness', Proceedings of the IEEE Conference on Decision and Control (1996)
This paper considers the robust strict positive real(SPR) problem for a family of plants of the form G(s,q) = N(s, q n)D 1(s, q ... [more]
This paper considers the robust strict positive real(SPR) problem for a family of plants of the form G(s,q) = N(s, q n)D 1(s, q d)a, where N(s, q n) and D(s,q d) are multiaffine in uncertain parameters q n and q d, respectively, and a > 0. In the discretetime setting, this problem plays an important role in digital quantization. Several results are presented. First, we prove that this plant family is robustly SPR if and only if all 'corner plants' in the family are SPR. Secondly, we show that, if this plant family is robustly SPR, it admits a multiaffine Lyapunov matrix for the KalmanYakubovicPopov (KYP) inequality, i.e, the Lyapunov matrix is multiaffine in the uncertain parameters. This result is useful in robustness analysis of timevarying systems. Thirdly, we relate the robust SPRness of this plant family to the robust strict bounded realness (SBRness) of a plant family involving the inverse of N(s,q n)D 1(s,q d). We show that multiaffine Lyapunov matrix for the KYP inequality of the first plant family yields a multiaffineLyapunov matrix for the bounded real inequality of the second plant family. Finally, the robust SPR problem is considered for a more general plant family with applications in circuits and communication systems.



1995 
Xie L, Shishkin SL, Fu M, 'Piecewise Lyapunov functions for robust stability of linear timevarying systems', Proceedings of the IEEE Conference on Decision and Control (1995)
In this paper, we investigate the use of twoterm piecewise quadratic Lyapunov functions for robust stability of linear timevarying systems. By using the socalled Sprocedure an... [more]
In this paper, we investigate the use of twoterm piecewise quadratic Lyapunov functions for robust stability of linear timevarying systems. By using the socalled Sprocedure and a special variable reduction method, we provide numerically efficient conditions for the robust asymptotic stability of the linear timevarying systems involving the convex combinations of two matrices. An example is included to demonstrate the usefulness of our results.



1995 
Fu MY, Barabanov NE, 'Improved upper bounds of the structured singular value', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1995)



1995 
Li HZ, Fu MY, 'An LMI approach to robust Hinfinity, filtering for linear systems', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1995)



1994 
LI HZ, FU MY, 'MODEL FOLLOWING ROBUST CONTROL OF SYSTEMS WITH LARGE SIZE UNCERTAIN PARAMETERS', AUTOMATIC CONTROL  WORLD CONGRESS 1993, VOL 2 (1994) 


1994 
XIE L, FU MY, 'FINITE TEST OF ROBUST STRICT POSITIVE REALNESS', PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 13 (1994)



1994 
SHI P, FU MY, DESOUZA CE, 'LOOP TRANSFER RECOVERY FOR SAMPLEDDATA SYSTEMS', PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 13 (1994) 


1994 
SHRIVASTAVA Y, FU MY, 'AN ALGORITHM FOR DETERMINING THE LEAST MINIMUM SINGULAR VALUE OF A POLYTOPE OF MATRICES', PROCEEDINGS OF THE 33RD IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1994)



1994 
LI HZ, FU MY, 'ROBUST STABILIZATION OF NONMINIMUM PHASE LINEAR TIME INVARIANT SYSTEMS', PROCEEDINGS OF THE 33RD IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1994) 


1993 
FU MY, 'TEST OF CONVEX DIRECTIONS FOR ROBUST STABILITY', PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1993)



1993 
CHOCKALINGAM G, DASGUPTA S, ANDERSON BDO, FU MY, 'LYAPUNOV FUNCTIONS FOR UNCERTAIN SYSTEMS WITH APPLICATIONS TO THE STABILITY OF TIMEVARYING SYSTEMS', PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1993)



1993 
NGUANG SK, FU MY, 'ROBUSTCONTROL OF SYSTEMS WITH BOTH NORM BOUNDED AND NONLINEAR UNCERTAINTIES', PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14 (1993)



1992 
FU MY, LI HH, 'MODELFOLLOWING ROBUSTCONTROL OF LINEAR TIMEVARYING UNCERTAIN SYSTEMS', ROBUSTNESS OF DYNAMIC SYSTEMS WITH PARAMETER UNCERTAINTIES (1992)



1992 
FU M, 'MODELREFERENCE ROBUSTCONTROL', LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES (1992) 


1991 
Gibbens PW, Schwartz CA, Fu M, 'Dynamic decoupling of MIMO systems: Nonlinear case', Proceedings of the IEEE Conference on Decision and Control (1991)
The authors determine conditions under which a diagonal dynamic precompensation is sufficient to achieve vector relative degree for multivariable nonlinear systems and describe a ... [more]
The authors determine conditions under which a diagonal dynamic precompensation is sufficient to achieve vector relative degree for multivariable nonlinear systems and describe a simple algorithm which determines such compensation. It is shown that the decouplability question is essentially associated with the nonsingularity or (non)generic singularity of a certain matrix related to the system.



1991 
Gibbens PW, Schwartz C, Fu M, 'Dynamic decoupling of MIMO systems: Linear case', Proceedings of the American Control Conference (1991)
For systems which do not have a diagonal interactor, a bicausal precompensation or static state feedback is insufficient for decoupling. Conditions are characterized under which a... [more]
For systems which do not have a diagonal interactor, a bicausal precompensation or static state feedback is insufficient for decoupling. Conditions are characterized under which a multiinput, multioutput (MIMO) system can be made decouplable by a diagonal dynamic precompensation. More specifically, the authors determine necessary and sufficient conditions under which diagonal dynamic precompensation exists which achieves a diagonal interactor.



1990 
FU MY, 'EXACT, OPTIMAL, AND PARTIAL LOOP TRANSFER RECOVERY', PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 16 (1990)



1989 
FU M, 'POLYTOPES OF POLYNOMIALS WITH ZEROS IN A PRESCRIBED REGION  NEW CRITERIA AND ALGORITHMS', ROBUSTNESS IN IDENTIFICATION AND CONTROL (1989)



1989 
Polis MP, Olbrot AW, Fu M, 'Overview of recent results on the parametric approach to robust stability', Proceedings of the IEEE Conference on Decision and Control (1989)
A discussion is presented of recent results relating to the parametric approach to robust stability. The general problem of robust stability is defined, and a review of Kharitonov... [more]
A discussion is presented of recent results relating to the parametric approach to robust stability. The general problem of robust stability is defined, and a review of Kharitonovtype and edge theorems, zero exclusion results, interval matrix stability, maximal perturbation bounds, multilinear and nonlinear perturbations, time delay systems, and numerical/graphical approaches is presented. Some open research directions are indicated, and the future of the approach is discussed.



1989 
Fu M, 'Class of Kharitonov regions for robust stability of linear uncertain systems' (1989)
Kharitonov's theorems are generalized for the problem of socalled Kharitonov regions for robust stability of linear uncertain systems. Given a polytope of (characteristic) polyno... [more]
Kharitonov's theorems are generalized for the problem of socalled Kharitonov regions for robust stability of linear uncertain systems. Given a polytope of (characteristic) polynomials P and a stability region D in the complex plane, P is called Dstable if the zeros of every polynomial in P are interior to D. It is of interest to known whether D is a Kharitonov region, that is, whether the Dstability of the vertices of P implies the Dstability of P. A simple approach is developed which unifies and generalizes many known results on this problem.



1988 
Fu M, Barmish BR, 'Polytopes of polynomials with zeros in a prescribed region.', Proceedings of the American Control Conference (1988)
A fundamental result was previously established on the zero locations of a family of polynomials. It was shown that the zeros of a polytope P of nthorder real polynomials is cont... [more]
A fundamental result was previously established on the zero locations of a family of polynomials. It was shown that the zeros of a polytope P of nthorder real polynomials is contained in a simply connected region D if and only if the zeros of all polynomials along the exposed edges of P are contained in D. This work was motivated by the fact that the requirement of simple connectedness of D may be too restrictive in applications such as dominant pole assignment and filter design where the separation of zeros is required. The authors extend the edge criterion of the previously study to handle any region D whose complement Dc has the following property: every point d e Dc lies on some continuous path which remains within Dc and is unbounded. This requirement is typically verified by inspection and allows for a large class of disconnected regions. The authors also allow for polynomials with complex coefficients.



1986 
Fu M, Barmish BR, 'ADAPTIVE STABILIZATION OF LINEAR SYSTEMS VIA SWITCHING CONTROL.', Proceedings of the IEEE Conference on Decision and Control (1986)
The authors develop a method for adaptive stabilization without a minimum phase assumption and without knowledge of the sign of the high frequency gain. In contrast to recent work... [more]
The authors develop a method for adaptive stabilization without a minimum phase assumption and without knowledge of the sign of the high frequency gain. In contrast to recent work by B. Martensson (1985) the authors include a compactness requirement on the set of possible plants and assume that an upper bound on the order of the plant is known. Under these additional hypotheses, the authors generate a piecewiselinear timeinvariant switching control law which leads to a guarantee of Lyapunov stability and an exponential rate of convergence for the state. One of the main objectives of this work has been to eliminate the possibility of large state deviations associated with a search over the space of gain matrices that occurred in Martensson's study.


