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Professor Rick Middleton

Head of School

School of Elect Engineering and Computer Science (Electrical and Computer Engineering)

Back to the future: Feedback control and favourable odds

Combating uncertainty with algorithm designs and computer simulations, Professor Rick Middleton's electrical engineering research is helping to improve the efficiency of a number of real-world processes.

Professor Rick Middleton 

Studying practical problems from a mathematical viewpoint isn't for everyone. For Middleton though, it's a satisfying challenge. His theoretical work involves 'a lot' of calculus, differential equations and linear algebra, and simultaneously (and surprisingly) adopts some of the creative thinking techniques usually reserved for those in the literary arts.

'My mind is quite analytical,' he admits.

 'But there are no clear-cut answers or solutions in the research I undertake.'

'Problems are always formulated as abstractions of reality with limited fixed steps and many possible directions.'

Adding to this unusual twist in investigative efforts, Middleton is ambitiously looking to optimise feedback control loops in a broad range of dynamic systems. The electrical engineer's multi-capacity algorithms are designed to regulate behaviours in industrial, biological and mechanical processes, with recognition of the need to combat – and sometimes just cope with – instability also influencing these adjustments.

'We're looking at things where the action you take now affects things over time,' he explains.

'So what we want to do is watch what happens a little further down the track, compare that with what we want to happen, and then modify control loops based on these observations.'

'If we knew everything and could predict the future perfectly we wouldn't need to bother.'

Computational complexities

Middleton first began exploring the creative constraints and opportunities of feedback mechanisms during his PhD candidateship in the late 80s. Opting to study computer control systems, the born and bred Novocastrian formulated differential equations to demonstrate the likenesses between analog integrated circuits and discrete time models.

'The two were once thought to be very different due to the way their mathematics had developed,' he says.

'But I was able to prove they're in fact quite close with one another.'

At the same time valuing the differences between discrete time models and analog integrated circuits, Middleton was also able to reformulate computer controls so that they took advantage of operational incongruences. With measurements and adjustments made at finite points in the former, and measurements and adjustments made continuously in the latter, he similarly showed uncertainties could be accounted for by meeting somewhere in the middle.  

'Instead of focusing purely on what happens next, which had long been the case for computer control systems, I used differences to indicate that we should really be looking at what happens between now and the next step,' Middleton discloses.

The pluck of the Irish

Seeking to build on this understanding of system dynamics post-PhD, Middleton initiated a number of projects in health sciences and other fields. Working both here and abroad during these earlier research days, he also sought to expand the application of feedback control loops.

'Early efforts in feedback control involved electronic amplifiers,' the Institute of Electrical and Electronics Engineers Fellow explains.

'At the time they had very good gain properties but would often add extra harmonics, which distorted the sound.'

'Feedback mechanisms were engineered to ensure nothing had to be compromised – the signal could be boosted to make it louder without any distortion.'

Another of Middleton's projects involved studying systems biology – this time in the Republic of Ireland. He took on a five-year appointment at the National University of Ireland Maynooth's Hamilton Institute, electing to approach the behaviour and dynamics of Parkinson's Disease from a novel mathematical angle.  

'What happens in patients with Parkinson's is quite well studied in terms of the sequence of events, but it's not well understood in terms of what causes what,' Middleton concedes.

'We don't know exactly why the neurons degenerate.'

Recognising the 'reasonably large impact' Parkinson's has on our aging society, the Director of the University of Newcastle's Centre for Complex Dynamic Systems and Control also sought to understand how the disease progresses despite common drugs used that compensate for the symptoms resulting from dopamine losses.

'We looked at particular cells in the brain, especially some of the neurons that degenerate early,' he says.

'We also looked at the different feedback mechanisms that exist there and why things might go wrong and cause damage to these cells.'

Fine-tuning the green machine

Most recently, Middleton has been researching and revising renewable energy processes. He's collaborating with a PhD candidate, Sonja Stuedli, to examine the current behaviours of electricity suppliers and consumers.

'At the moment it's reasonably cheap to produce renewable energy but often hard for us to store – and this is well known,' Middleton asserts.

'Renewables can be stored very effectively in hydro systems but we don't have enough of these systems to store the amount we need.'

Simultaneously conducting mathematical analyses and computer simulations of local load capacities, the pair is also looking to ensure homeowners are able to make the most of available energy resources. Sometimes things as simple as having signals from a central authority to let us know when there's too much power being used or there's some spare, these adjustments take full advantage of the rapidly varying generation of renewables.

'One of the other things people have realised is that if we were smarter in our homes about being able to turn things on and off and reduce our load at the right time, we could match up our consumption of energy to when cheap energy is readily accessible,' he declares.

'This will allow us to match up demand with solar sources without the big demand for storage.'

Providing feedback on feedback

Acknowledging the study of single feedback loops is now 'largely done,' Middleton anticipates a shift in the direction of Control Theory research. Already talking about expanding smart grids and introducing smart cities, the multiple-award winner also points to a fundamental reengineering of electrical and telecommunications industries.  

'Almost all of the problems we continue to have, even little things like finding a car parking spot at University, tend to worry about the dynamics and the effect of the answer,' he says.

'In many ways feedback control could and should help us to manage these intricacies and uncertainties.'

Professor Rick Middleton

Back to the future: Feedback control and favourable odds

Professor Rick Middleton is Director of the Priority Research Centre for Dynamic Systems and Control. His theoretical work is primarily focused on Control and

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Career Summary

Biography

Professor Richard H. Middleton was born on 10th December 1961 in Newcastle Australia. He received his B.Sc. (1983), B.Eng. (Hons-I)(1984) and Ph.D. (1987) from the University of Newcastle, Australia. He has had visiting appointments at the University of Illinois at Urbana-Champaign, the University of Michigan and the Hamilton Institute (National University of Ireland Maynooth). In 1991 he was awarded the Australian Telecommunications and Electronics Research Board Outstanding Young Investigator award. In 1994 he was awarded the Royal Society of New South Wales Edgeworth-David Medal; he was elected to the grade of Fellow of the IEEE starting 1999, and received the M.A. Sargent Award from the Electrical College of Engineers Australia in 2004. He has served as an associate editor, associate editor at large and senior editor of the IEEE Transactions on Automatic Control, the IEEE Transactions on Control System Technology, and Automatica, as Head of Department of Electrical and Computer Engineering at the University of Newcastle; as a panel member and sub panel chair for the Australian Research Council; as Vice President - Member Activities and also as Vice President – Conference Activities of the IEEE Control Systems Society; President (2011) of the IEEE Control Systems Society; as Director of the ARC Centre for Complex Dynamic Systems and Control; a Distinguished Lecturer for the IEEE Control Systems Society, and as a research professor at the Hamilton Institute, The National University of Ireland, Maynooth. He is currently director of the University of Newcastle Priority Research Centre for Complex Dynamic Systems and Control. His research interests include a broad range of Control Systems Theory and Applications, including Systems Biology.

Research Expertise
Middleton has experience across a wide range of fundamental and applied research. His theoretical work is primarily focused on Control and Systems Theory, with diverse applications from mine planning optimisation, through metal forming processes and robotics.

Teaching Expertise
Middleton has extensive undergraduate, postgraduate and professional teaching experience. His primary areas of teaching have been related to electrical circuits, electronics and feedback control.

Administrative Expertise
Middleton has administrative expertise in a range of internal and external settings. These include head of department roles within ithe University of Newcastle, together with Directorship of an ARC Centre. Externally, this can be seen through the examples of ARC Panel Membership (including sub-panel chair role in 2000); successive vice-president roles within the IEEE Control Systems Society; Program Chair role for the premier annual control theory conference; 3 Associate editor appointments; 

Qualifications

  • PhD, University of Newcastle
  • Bachelor of Science, University of Newcastle
  • Bachelor of Engineering, University of Newcastle

Keywords

  • Adaptive Control
  • Applied Kalman Filtering
  • Circuits
  • Control
  • Electronics
  • Robotics
  • System and Control

Fields of Research

Code Description Percentage
080199 Artificial Intelligence and Image Processing not elsewhere classified 20
080299 Computation Theory and Mathematics not elsewhere classified 5
090699 Electrical and Electronic Engineering not elsewhere classified 75

Professional Experience

UON Appointment

Title Organisation / Department
Professor University of Newcastle
School of Elect Engineering and Computer Science
Australia

Academic appointment

Dates Title Organisation / Department
1/01/2006 - 1/12/2006 Program Chair 45th IEEE Conference on Decision and Control
Australia
1/01/2006 -  Vice President - Conference Activities IEEE Control Systems Society
Australia
1/01/2004 - 1/12/2005 Vice President - Member Activities IEEE Control Systems Society
Australia
1/01/2003 -  Director University of Newcastle
ARC Centre of Excellence for Complex Dynamics and Control
Australia
1/01/2003 -  Node Leader University of Newcastle
CRC-Mining
Australia
1/01/1999 -  Membership - IEEE Control Systems Society IEEE Control Systems Society
Australia
1/01/1999 - 31/12/2007 Membership - I.E. Aust (Engineers Australia) Engineers Australia
1/01/1998 - 31/12/2004 Associate Editor - Automatica Journal Automatica Journal
Australia
1/01/1998 - 31/12/1998 Fellow IEEE
Australia
1/01/1997 - 31/12/2000 Associate Editor - IEEE Transactions on Control Systems Technology IEEE Transactions on Control Systems Technology
Australia
1/01/1997 - 1/12/2001 Associate Director University of Newcastle
Centre for Integrated Dynamics & Control (CIDAC)
Australia
1/07/1995 - 1/12/1995 Visiting Associate Research Scientist The University of Michigan, Ann Arbor, USA
Electrical Engineering
United States
1/01/1994 - 1/12/1996 Head of Department University of Newcastle
Engineering & Built Environment
Australia
1/01/1992 - 1/12/1996 Associate Director University of Newcastle
Centre for Integrated Dynamics & Control (CIDAC)
Australia
1/01/1991 - 31/12/1992 Editorial Board - IEEE Transactions on Automatic Control IEEE Transactions on Automatic Control
Australia

Membership

Dates Title Organisation / Department
Vice President - Member Activities IEEE Control Systems Society
Australia
1/01/1998 - 31/12/2000 ARC Sub Panel Committee Member ARC
Australia

Awards

Recognition

Year Award
2004 M.A. Sargeant Medal
Engineers Australia
1994 Royal Society of NSW Edgeworth-David Medal
Royal Society of New South Wales
1991 Outstanding Young Investigator
Australian Telecommunications & Electronics Research Board
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Publications

For publications that are currently unpublished or in-press, details are shown in italics.


Journal article (137 outputs)

Year Citation Altmetrics Link
2015 Stüdli S, Crisostomi E, Middleton R, Braslavsky J, Shorten R, 'Distributed load management using additive increase multiplicative decrease based techniques', Power Systems, 89 173-202 (2015)

Due to the expected increase in penetration levels of Plug-in Electric Vehicles (PEVs), the demand on the distribution power grid is expected to rise significantly during PEV char... [more]

Due to the expected increase in penetration levels of Plug-in Electric Vehicles (PEVs), the demand on the distribution power grid is expected to rise significantly during PEV charging. However, as PEV charging in many cases may not be time critical, they are suitable for load management tasks where the power consumption of PEVs is controlled to support the grid. Additionally, PEVs may also be enabled to inject power into the grid to lower peak demand or counteract the influence of intermittent renewable energy generation, such as that produced by solar photovoltaic panels. Further, PEV active rectifiers can be used to balance reactive power in a local area if required, to reduce the necessity for long distance transport of reactive power. To achieve these objectives, we adapt a known distributed algorithm, Additive Increase Multiplicative Decrease, to control both the active and reactive power consumption and injection. Here, we present this algorithm in a unified framework and illustrate the flexibility of the algorithm to accommodate different user objectives. We illustrate this with three scenarios, including a domestic scenario and a workplace scenario. In these scenarios the various objectives allow us to define a type of ¿fairness¿ for how the PEVs should adapt their power consumption, i.e. equal charging rates, or charging rates based on energy requirements. We then validate the algorithms by simulations of a simple radial test network. The simulations presented use the power simulation tool OpenDSS interlinked with MATLAB.

DOI 10.1007/978-981-287-302-6_7
Co-authors Julio Braslavsky
2015 Fuangrod T, Rowshanfarzad P, Greer PB, Middleton RH, 'A cine-EPID based method for jaw detection and quality assurance for tracking jaw in IMRT/VMAT treatments.', Phys Med, 31 16-24 (2015)
DOI 10.1016/j.ejmp.2014.11.002
Citations Scopus - 2Web of Science - 2
Co-authors Peter Greer
2015 Fuangrod T, Rowshanfarzad P, Greer PB, Middleton RH, 'A cine-EPID based method for jaw detection and quality assurance for tracking jaw in IMRT/VMAT treatments', PHYSICA MEDICA-EUROPEAN JOURNAL OF MEDICAL PHYSICS, 31 16-36 (2015)
DOI 10.1016/j.ejmp.2014.11.002
Citations Scopus - 3Web of Science - 3
Co-authors Peter Greer
2014 Colaneri P, Middleton RH, Chen Z, Caporale D, Blanchini F, 'Convexity of the cost functional in an optimal control problem for a class of positive switched systems', AUTOMATICA, 50 1227-1234 (2014) [C1]
DOI 10.1016/j.automatica.2014.02.025
Citations Scopus - 2Web of Science - 1
Co-authors Zhiyong Chen
2014 Knorn S, Donaire A, Agueero JC, Middleton RH, 'Passivity-based control for multi-vehicle systems subject to string constraints', AUTOMATICA, 50 3224-3230 (2014)
DOI 10.1016/j.automatica.2014.10.038
Co-authors Juan Aguero, Alejandro Donaire
2014 Peters AA, Middleton RH, Mason O, 'Leader tracking in homogeneous vehicle platoons with broadcast delays', Automatica, 50 64-74 (2014) [C1]

For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper, we study a ... [more]

For vehicle platoons, the leader following control architecture is known to be capable of achieving string stability while maintaining tight formations. In this paper, we study a variety of schemes where the leader state is available to the other members of the platoon. We show that in some cases it is possible to achieve string stability in the presence of certain amounts of time delay in the leader state reception. We also compare other properties of the different schemes and discuss some of their advantages and disadvantages. © 2013 The Authors. Published by Elsevier Ltd. All rights reserved.

DOI 10.1016/j.automatica.2013.09.034
Citations Scopus - 2Web of Science - 2
2014 Knorn S, Donaire A, Agüero JC, Middleton RH, 'Passivity-based control for multi-vehicle systems subject to string constraints', Automatica, 50 3224-3230 (2014) [C1]

In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framewor... [more]

In this paper, we show how heterogeneous bidirectional vehicle strings can be modelled as port-Hamiltonian systems. Analysis of stability and string stability within this framework is straightforward and leads to a better understanding of the underlying problem. Nonlinear local control and additional integral action is introduced to design a suitable control law guaranteeing l2 string stability of the system with respect to bounded disturbances.

DOI 10.1016/j.automatica.2014.10.038
Co-authors Alejandro Donaire, Juan Aguero
2014 Chesi G, Middleton RH, 'Necessary and sufficient LMI conditions for stability and performance analysis of 2-D mixed continuous-discrete-time systems', IEEE Transactions on Automatic Control, 59 996-1007 (2014) [C1]

This paper proposes necessary and sufficient conditions for stability and performance analysis of 2-D mixed continuous-discrete-time systems that can be checked with convex optimi... [more]

This paper proposes necessary and sufficient conditions for stability and performance analysis of 2-D mixed continuous-discrete-time systems that can be checked with convex optimization, in particular linear matrix inequalities (LMIs). Specifically, the first contribution of the paper is a condition for exponential stability based on the introduction of a complex Lyapunov function depending polynomially on a parameter and on the use of the Gram matrix method. It is shown that this condition is sufficient for any chosen degree of the complex Lyapunov function, and necessary for an a priori known degree. The second contribution is a non-Lyapunov condition for exponential stability based on eigenvalue products. This condition is necessary and sufficient, and has the advantage of requiring a significantly smaller computational burden for achieving necessity. Lastly, the third contribution is to show how upper bounds on the H8 norm of 2-D mixed continuous-discrete-time systems can be obtained through a semidefinite program based on complex Lyapunov functions. A necessary and sufficient condition is provided for establishing the tightness of the found upper bounds. © 1963-2012 IEEE.

DOI 10.1109/TAC.2014.2299353
Citations Scopus - 5Web of Science - 1
2014 Stüdli S, Middleton R, Crisostomi E, Shorten R, 'Optimal real-time distributed V2G and G2V management of electric vehicles', International Journal of Control, (2014) [C1]

This paper exploits the analogy between the electrical grid and modern communication networks to implement Electric Vehicle (EV) battery charging scheduling algorithms inspired by... [more]

This paper exploits the analogy between the electrical grid and modern communication networks to implement Electric Vehicle (EV) battery charging scheduling algorithms inspired by popular communication network techniques. In preliminary works, a similar approach was used to manage the Grid-to-Vehicle (G2V) active power flows. In this paper, we extend this framework to both implement the Vehicle-to-Grid (V2G) concept and to provide reactive power compensation capabilities that do not affect charging times. The ability of the proposed algorithms to optimally share the available/desired power in a fair way, with minimum communication requirements, in a very uncertain, dynamically changing framework, is illustrated through several examples for different scenarios of interest. © 2014 © 2014 Taylor & Francis.

DOI 10.1080/00207179.2013.868930
Citations Scopus - 2Web of Science - 1
2014 Fuangrod T, Woodruff HC, Rowshanfarzad P, O'Connor DJ, Middleton RH, Greer PB, 'An independent system for real-time dynamic multileaf collimation trajectory verification using EPID', PHYSICS IN MEDICINE AND BIOLOGY, 59 61-81 (2014) [C1]
DOI 10.1088/0031-9155/59/1/61
Citations Scopus - 1
Co-authors Peter Greer, John Oconnor
2014 López-Caamal F, Middleton RH, Huber HJ, 'Equilibria and stability of a class of positive feedback loops: Mathematical analysis and its application to caspase-dependent apoptosis', Journal of Mathematical Biology, 68 609-645 (2014) [C1]

Positive feedback loops are common regulatory elements in metabolic and protein signalling pathways. The length of such feedback loops determines stability and sensitivity to netw... [more]

Positive feedback loops are common regulatory elements in metabolic and protein signalling pathways. The length of such feedback loops determines stability and sensitivity to network perturbations. Here we provide a mathematical analysis of arbitrary length positive feedback loops with protein production and degradation. These loops serve as an abstraction of typical regulation patterns in protein signalling pathways. We first perform a steady state analysis and, independently of the chain length, identify exactly two steady states that represent either biological activity or inactivity. We thereby provide two formulas for the steady state protein concentrations as a function of feedback length, strength of feedback, as well as protein production and degradation rates. Using a control theory approach, analysing the frequency response of the linearisation of the system and exploiting the Small Gain Theorem, we provide conditions for local stability for both steady states. Our results demonstrate that, under some parameter relationships, once a biological meaningful on steady state arises, it is stable, while the off steady state, where all proteins are inactive, becomes unstable. We apply our results to a three-tier feedback of caspase activation in apoptosis and demonstrate how an intermediary protein in such a loop may be used as a signal amplifier within the cascade. Our results provide a rigorous mathematical analysis of positive feedback chains of arbitrary length, thereby relating pathway structure and stability. © 2013 Springer-Verlag Berlin Heidelberg.

DOI 10.1007/s00285-013-0644-z
Citations Scopus - 2Web of Science - 1
2014 Yu B, Freudenberg JS, Gillespie RB, Middleton RH, 'Beyond synchronization: String instability in coupled harmonic oscillator systems', International Journal of Robust and Nonlinear Control, (2014)

SUMMARY: In this paper, we consider the problem of disturbance response and error amplification for a simple system of coupled harmonic oscillators. We first suppose that identica... [more]

SUMMARY: In this paper, we consider the problem of disturbance response and error amplification for a simple system of coupled harmonic oscillators. We first suppose that identical oscillators are connected in a string in which each oscillator attempts to track its predecessor by using the same control law that depends on the relative position information from its immediate predecessor. Such an oscillator string is called a homogeneous oscillator string with predecessor-following architecture. Motivated by terminology from the problem of vehicle platooning, we say that the synchronized oscillator system is string unstable if the effect of a disturbance to the lead oscillator is amplified as it propagates along the string. With the use of a new Bode-like integral relation that must be satisfied by the complementary sensitivity function, we provide sufficient conditions for string instability. The sufficient conditions show that any string of oscillators that satisfies certain time domain performance specifications and bandwidth limitations must necessarily be string unstable. We further introduce a concept of time headway for the oscillator system and extend our analysis of string instability to consider the heterogeneous oscillator string and a more general communication range. © 2014 John Wiley & Sons, Ltd.

DOI 10.1002/rnc.3229
2014 Hernandez-Vargas EA, Colaneri P, Middleton RH, 'Switching strategies to mitigate HIV mutation', IEEE Transactions on Control Systems Technology, 22 1623-1628 (2014) [C1]

HIV mutates rapidly and may develop resistance to specific drug therapies. There is no general agreement on how to optimally schedule the available treatments for mitigating the e... [more]

HIV mutates rapidly and may develop resistance to specific drug therapies. There is no general agreement on how to optimally schedule the available treatments for mitigating the effects of mutations. With a switched positive linear system, we examined different control strategies applied to a higher order nonlinear mutation model. Simulation results suggest that model predictive control could outperform the common clinical treatment recommendations. This brief is a step forward to develop further tools for helping the practitioners to find the optimal treatment schedule. © 2013 IEEE.

DOI 10.1109/TCST.2013.2280920
Citations Scopus - 3
2014 Lopez-Caamal F, Oyarzun DA, Middleton RH, Garcia MR, 'Spatial quantification of cytosolic Ca2+ accumulation in nonexcitable cells: An analytical study', IEEE/ACM Transactions on Computational Biology and Bioinformatics, 11 592-603 (2014) [C1]

Calcium ions act as messengers in a broad range of processes such as learning, apoptosis, and muscular movement. The transient profile and the temporal accumulation of calcium sig... [more]

Calcium ions act as messengers in a broad range of processes such as learning, apoptosis, and muscular movement. The transient profile and the temporal accumulation of calcium signals have been suggested as the two main characteristics in which calcium cues encode messages to be forwarded to downstream pathways. We address the analytical quantification of calcium temporal-accumulation in a long, thin section of a nonexcitable cell by solving a boundary value problem. In these expressions we note that the cytosolic Ca2+ accumulation is independent of every intracellular calcium flux and depends on the Ca2+ exchange across the membrane, cytosolic calcium diffusion, geometry of the cell, extracellular calcium perturbation, and initial concentrations. In particular, we analyse the time-integrated response of cytosolic calcium due to i) a localised initial concentration of cytosolic calcium and ii) transient extracellular perturbation of calcium. In these scenarios, we conclude that i) the range of calcium progression is confined to the vicinity of the initial concentration, thereby creating calcium microdomains; and ii) we observe a low-pass filtering effect in the response driven by extracellular Ca2+ perturbations. Additionally, we note that our methodology can be used to analyse a broader range of stimuli and scenarios. © 2004-2012 IEEE.

DOI 10.1109/TCBB.2014.2316010
2013 Hernandez-Vargas EA, Colaneri P, Middleton RH, 'Optimal therapy scheduling for a simplified HIV infection model', AUTOMATICA, 49 2874-2880 (2013) [C1]
DOI 10.1016/j.automatica.2013.06.001
Citations Scopus - 7Web of Science - 4
2013 Knorn S, Middleton RH, 'Stability of Two-Dimensional Linear Systems With Singularities on the Stability Boundary Using LMIs', IEEE Transactions on Automatic Control, 58 2579-2590 (2013) [C1]
DOI 10.1109/TAC.2013.2264852
Citations Scopus - 6Web of Science - 3
2013 Hernandez-Vargas EA, Middleton RH, 'Modeling the three stages in HIV infection', JOURNAL OF THEORETICAL BIOLOGY, 320 33-40 (2013) [C1]
DOI 10.1016/j.jtbi.2012.11.028
Citations Scopus - 10Web of Science - 9
2013 Francis F, Garcia MR, Middleton RH, 'A single compartment model of pacemaking in dissasociated substantia nigra neurons Stability and energy analysis', JOURNAL OF COMPUTATIONAL NEUROSCIENCE, 35 295-316 (2013) [C1]
DOI 10.1007/s10827-013-0453-9
Citations Scopus - 2Web of Science - 2
2013 Goodwin GC, Middleton RH, Seron MM, Campos B, 'Application of nonlinear model predictive control to an industrial induction heating furnace', Annual Reviews in Control, 37 271-277 (2013) [C1]

Induction Heating Furnaces are used extensively in industry. The basic principle is that induced eddy currents are used to heat a ferromagnetic material as it passes through a ser... [more]

Induction Heating Furnaces are used extensively in industry. The basic principle is that induced eddy currents are used to heat a ferromagnetic material as it passes through a series of coils. Because of the importance of such systems, there has been on-going interest in their design and operation. Past work includes model development from physical principles and optimal design of operational practices. However, previous work has invariably been based on open-loop strategies. Our work is aimed at the design of a closed-loop control strategy incorporating feedback from the available measurements. This paper reports initial work including model development and calibration together with preliminary control system design. Proposed future work includes full scale industrial implementation.© 2013 Elsevier Ltd. All rights reserved.

DOI 10.1016/j.arcontrol.2013.09.006
Co-authors Graham Goodwin, Maria Seron
2013 Oyarzun DA, Lopez-Caamal F, Garcia MR, Middleton RH, Weisse AY, 'Cumulative Signal Transmission in Nonlinear Reaction-Diffusion Networks', PLOS ONE, 8 (2013) [C1]
DOI 10.1371/journal.pone.0062834
Citations Scopus - 2Web of Science - 2
2013 Garcia MR, Pearlmutter BA, Wellstead PE, Middleton RH, 'A Slow Axon Antidromic Blockade Hypothesis for Tremor Reduction via Deep Brain Stimulation', PLOS ONE, 8 (2013) [C1]
DOI 10.1371/journal.pone.0073456
Citations Scopus - 1Web of Science - 1
2012 Chesi G, Colaneri P, Geromel JC, Middleton R, Shorten R, 'A Nonconservative LMI Condition for Stability of Switched Systems With Guaranteed Dwell Time', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 57 1297-1302 (2012) [C1]
DOI 10.1109/TAC.2011.2174665
Citations Scopus - 29Web of Science - 22
2012 Lennartson B, Middleton RH, Gustafsson I, 'Numerical sensitivity of linear matrix inequalities using shift and delta operators', IEEE Transactions on Automatic Control, 57 2874-2879 (2012) [C1]
Citations Scopus - 10Web of Science - 6
2012 Studli S, Crisostomi E, Middleton RH, Shorten R, 'A flexible distributed framework for realising electric and plug-in hybrid vehicle charging policies', International Journal of Control, 85 1130-1145 (2012) [C1]
Citations Scopus - 26Web of Science - 17
2012 Lopez-Caamal F, Garcia MR, Middleton RH, Huber HJ, 'Positive feedback in the Akt/mTOR pathway and its implications for growth signal progression in skeletal muscle cells: An analytical study', JOURNAL OF THEORETICAL BIOLOGY, 301 15-27 (2012) [C1]
DOI 10.1016/j.jtbi.2012.01.026
Citations Scopus - 2Web of Science - 2
2012 O'Donoghue Y, Mason O, Middleton R, 'On the Kamke-Muller conditions, monotonicity and continuity for bi-modal piecewise-smooth systems', SYSTEMS & CONTROL LETTERS, 61 180-186 (2012) [C1]
DOI 10.1016/j.sysconle.2011.10.015
Citations Scopus - 1Web of Science - 1
2012 Whelan T, Stüdli S, McDonald J, Middleton RH, 'Line point registration: A technique for enhancing robot localization in a soccer environment', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 7416 LNCS 258-269 (2012) [C1]

The Standard Platform League (SPL) provides an environment that is essentially static; with the exception of other robots and the audience, the area in which a robot is expected t... [more]

The Standard Platform League (SPL) provides an environment that is essentially static; with the exception of other robots and the audience, the area in which a robot is expected to localise itself is quite favourable. However, a large number of the predefined landmarks in the given world model can be perceived as ambiguous in many scenarios, with the prime example being field line markings. In this paper a technique is presented that implicitly disambiguates these detected field line objects in order to use them for localization purposes. © 2012 Springer-Verlag Berlin Heidelberg.

DOI 10.1007/978-3-642-32060-6_22
2012 Cloutier M, Middleton R, Wellstead P, 'Feedback motif for the pathogenesis of Parkinson's disease', IET SYSTEMS BIOLOGY, 6 86-93 (2012) [C1]
DOI 10.1049/iet-syb.2011.0076
Citations Scopus - 4Web of Science - 3
2011 Corcoran P, Winstanley A, Mooney P, Middleton R, 'Background Foreground Segmentation for SLAM', IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 12 1177-1183 (2011) [C1]
DOI 10.1109/TITS.2011.2143706
Citations Scopus - 4Web of Science - 3
2011 Medioli AM, Seron MM, Middleton R, 'Maximal controllability of input constrained unstable systems by the addition of implicit constraints', Automatica, 47 2260-2266 (2011) [C1]
DOI 10.1016/j.automatica.2011.08.001
Co-authors Maria Seron
2011 Shu Z, Middleton RH, 'Stabilization Over Power-Constrained Parallel Gaussian Channels', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 56 1718-1724 (2011) [C1]
DOI 10.1109/TAC.2011.2135270
Citations Scopus - 17Web of Science - 11
2011 Freudenberg JS, Middleton RH, Braslavsky JH, 'Minimum variance control over a Gaussian communication channel', IEEE Transactions on Automatic Control, 56 1751-1765 (2011) [C1]
DOI 10.1109/TAC.2010.2097831
Citations Scopus - 16Web of Science - 12
Co-authors Julio Braslavsky
2011 Ferreira J, Hernandez-Vargas EA, Middleton RH, 'Computer simulation of structured treatment interruption for HIV infection', COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, 104 50-61 (2011) [C1]
DOI 10.1016/j.cmpb.2011.07.011
Citations Scopus - 6Web of Science - 6
2011 Hernandez-Vargas E, Colaneri P, Middleton R, Blanchini F, 'Discrete-time control for switched positive systems with application to mitigating viral escape', INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 21 1093-1111 (2011) [C1]
DOI 10.1002/rnc.1628
Citations Scopus - 63Web of Science - 37
2011 Middleton R, 'Conferences on Decision and Control', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-13 (2011) [O1]
DOI 10.1109/MCS.2010.940071
2011 Middleton R, 'Publications', IEEE CONTROL SYSTEMS MAGAZINE, 31 11-12 (2011) [O1]
DOI 10.1109/MCS.2011.940723
Citations Web of Science - 1
2011 Middleton R, 'Challenges and Future Directions', IEEE CONTROL SYSTEMS MAGAZINE, 31 13-14 (2011) [O1]
DOI 10.1109/MCS.2011.941293
Citations Web of Science - 1
2011 Middleton R, 'Memories and Lessons from Adaptive Control', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-14 (2011) [O1]
DOI 10.1109/MCS.2011.942048
2011 Middleton R, 'The Half Century', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-15 (2011) [O1]
DOI 10.1109/MCS.2011.942549
2010 Weisse AY, Middleton RH, Huisinga W, 'Quantifying uncertainty, variability and likelihood for ordinary differential equation models', BMC SYSTEMS BIOLOGY, 4 (2010) [C1]
DOI 10.1186/1752-0509-4-144
Citations Scopus - 4Web of Science - 2
2010 Freudenberg JS, Middleton RH, Solo V, 'Stabilization and Disturbance Attenuation Over a Gaussian Communication Channel', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 55 795-799 (2010) [C1]
DOI 10.1109/TAC.2010.2040507
Citations Scopus - 35Web of Science - 24
2010 Middleton RH, Braslavsky JH, 'String instability in classes of linear time invariant formation control with limited communication range', IEEE Transactions on Automatic Control, 55 1519-1530 (2010) [C1]
DOI 10.1109/TAC.2010.2042318
Citations Scopus - 58Web of Science - 44
Co-authors Julio Braslavsky
2009 Middleton RH, Rojas AJ, Freudenberg JS, Braslavsky JH, 'Feedback stabilization over a first order moving average Gaussian noise channel', IEEE Transactions on Automatic Control, 54 163-167 (2009) [C1]
DOI 10.1109/tac.2008.2007183
Citations Scopus - 20Web of Science - 12
Co-authors Julio Braslavsky
2009 Braslavsky JH, Middleton RH, Freudenberg JS, 'Authors' reply', IEEE Transactions on Automatic Control, 54 1427 (2009) [C3]
DOI 10.1109/tac.2009.2020635
Co-authors Julio Braslavsky
2009 Shorten RN, Cor­Less M, Wulff K, Knorn S, Midd­Le­Ton RH, 'Qua­dra­tic Sta­bi­lity and Sin­gu­lar SISO Swit­ching Sys­tems', IEEE Transactions on Automatic Control, 54 2714-2718 (2009) [C1]
DOI 10.1109/TAC.2009.2031586
Citations Scopus - 23Web of Science - 19
2009 Oyarzun DA, Ingalls BP, Middleton RH, Kalamatianos D, 'Sequential Activation of Metabolic Pathways: a Dynamic Optimization Approach', BULLETIN OF MATHEMATICAL BIOLOGY, 71 1851-1872 (2009) [C1]
DOI 10.1007/s11538-009-9427-5
Citations Scopus - 17Web of Science - 18
2009 Wiklendt LS, Chalup SK, Middleton RH, 'A small spiking neural network with LQR control applied to the acrobot', Neural Computing & Applications, 18 369-375 (2009) [C1]
DOI 10.1007/s00521-008-0187-1
Citations Scopus - 6Web of Science - 1
Co-authors Stephan Chalup
2008 Rojas AJ, Braslavsky JH, Middleton RH, 'Channel signal-to-noise ratio constrained feedback control: performance and robustness', IET Control Theory and Applications, 2 595-605 (2008) [C1]
DOI 10.1049/iet-cta:20070246
Citations Scopus - 21Web of Science - 12
Co-authors Julio Braslavsky
2008 Rojas AJ, Braslavsky JH, Middleton RH, 'Fundamental limitations in control over a communication channel', Automatica, 44 3147-3151 (2008) [C1]
DOI 10.1016/j.automatica.2008.05.014
Citations Scopus - 42Web of Science - 26
Co-authors Julio Braslavsky
2008 Chen J, Hara S, Qiu L, Middleton RH, 'Best Achievable Tracking Performance in Sampled-Data Systems via LTI Controllers', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 53 2467-2479 (2008) [C1]
DOI 10.1109/TAC.2008.2006924
Citations Scopus - 12Web of Science - 5
2008 Miller DE, Middleton RH, 'On limitations to the achievable path following performance for linear multivariable plants', IEEE Transactions on Automatic Control, 53 2586-2601 (2008) [C1]
DOI 10.1109/TAC.2008.2008781
Citations Scopus - 5Web of Science - 3
2007 Kellett CM, Middleton RH, Shorten RN, 'On AIMD congestion control in multiple bottleneck networks', IEEE Communications Letters, 11 631-633 (2007) [C1]
DOI 10.1109/lcomm.2007.070250
Citations Scopus - 2Web of Science - 1
Co-authors Chris Kellett
2007 Mitchell SD, Welsh JS, Middleton RH, Phung BT, 'Practical implementation of a narrowband high frequency distributed model for locating partial discharge in a power transformer', 2007 ELECTRICAL INSULATION CONFERENCE AND ELECTRICAL MANUFACTURING EXPO, 127-131 (2007)
DOI 10.1109/EEIC.2007.4562603
Citations Scopus - 1Web of Science - 1
Co-authors Steve Mitchell, James Welsh
2007 Middleton RH, Miller DE, 'On the achievable delay margin using LTI control for unstable plants', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 52 1194-1207 (2007) [C1]
DOI 10.1109/TAC.2007.900824
Citations Web of Science - 26
2007 Braslavsky JH, Middleton RH, Freudenberg JS, 'Feedback stabilization over signal-to-noise ratio constrained channels', IEEE Transactions on Automatic Control, 52 1391-1403 (2007) [C1]
DOI 10.1109/tac.2007.902739
Citations Scopus - 193Web of Science - 144
Co-authors Julio Braslavsky
2006 Goodwin GC, Seron MM, Middleton RH, Zhang MM, Hennessy BF, Stone PM, Menabde M, 'Receding horizon control applied to optimal mine planning', Automatica, 42 1337-1342 (2006) [C1]
DOI 10.1016/j.automatica.2006.01.016
Citations Scopus - 20Web of Science - 10
Co-authors Graham Goodwin, Maria Seron
2005 Woodhouse DJ, Middleton RH, 'Consistency in Ground Potential Rise estimation utilizing Fall of Potential method data', IEEE Transactions on Power Delivery, 20 1226-1234 (2005) [C1]
DOI 10.1109/TPWRD.2004.838642
Citations Scopus - 6Web of Science - 2
2005 Saha TK, Middleton R, Thomas A, 'Correlation between time and frequency domain polarisation measurements for transformer moisture assessment', Australian Journal of Electrical and Electronics Engineering, 2 175-181 (2005)

Preventative diagnosis and maintenance of transformers has become more popular in recent times in order to improve the reliability of electric power systems. A number of transform... [more]

Preventative diagnosis and maintenance of transformers has become more popular in recent times in order to improve the reliability of electric power systems. A number of transformers have recently been tested using Return Voltage (RV) and Dielectric Dissipation Factor (tand) measurements in the time and frequency domain, respectively. This paper outlines a circuit model which describes the dielectric behaviour of the transformer insulation system and has been parameterised from the frequency domain data. This model was then used to simulate RV and Polarisation-Depolarisation current (PDC) results. Some recommendations about the diagnosis of the transformers have been proposed. © Institution of Engineers.

2005 Braslavsky JH, Middleton RH, Freudenberg JS, 'Effects of time delay on feedback stabilisation over signal-to-noise ratio constrained channels', IFAC Proceedings Volumes (IFAC-PapersOnline), 16 219-224 (2005)

The expanding integration of control and communication networks in recent years has generated an increasing interest in control problems with feedback over a communication channel... [more]

The expanding integration of control and communication networks in recent years has generated an increasing interest in control problems with feedback over a communication channel. Significant research activity has concentrated on stabilisation in face of channel effects such as quantisation and data-rate limits. in a recent paper, the authors have studied the problem of feedback stabilisation over a communication channel with a constraint on the admissible signal-to-noise ratio (SNR). It has been shown therein that for a delay-free, linear time-invariant feedback loop, a SNR constraint in the feedback channel imposes fundamental limitations in the ability to achieve closed-loop stability. The present paper extends these results by introducing a time-delay in the loop, and shows that the lowest SNR required for closed-loop stability increases by a factor that may grow exponentially with the time-delay and the unstable open loop poles of the system. This result contributes to the quantification of performance trade offs in integrated control and communication environments. Copyright © 2005 IFAC.

Citations Scopus - 5
Co-authors Julio Braslavsky
2005 Lennartson B, Middleton R, Christiansson A-K, Fransson C-M, 'Multi criteria sampled-data H8 control applied to the choice of sampling rate and anti-alias filter', IFAC Proceedings Volumes (IFAC-PapersOnline), 16 850-855 (2005)

A systematic evaluation procedure for the choice of sampling rate and anti-alias filter in sampled-data control is presented. It is based on a multi criteria H8 optimization proce... [more]

A systematic evaluation procedure for the choice of sampling rate and anti-alias filter in sampled-data control is presented. It is based on a multi criteria H8 optimization procedure, where sampled-data measures are introduced to capture the intersample behavior. The optimization scheme is based on linear matrix inequalities (LMIs) formulated in the delta operator, and the result is a low order controller of PID type. Both low frequency performance, mid frequency stability margins and high frequency control activity are taken into account. The evaluation procedure suggests to use higher sampling rates than typical text books recommend. Copyright © 2005 IFAC.

Citations Scopus - 1
2004 Middleton RH, Chen J, Freudenberg JS, 'Tracking sensitivity and achievable Hinfinity performance in preview control', Automatica, 40 1297-1306 (2004) [C1]
DOI 10.1016/j.automatica.2004.02.019
Citations Scopus - 13Web of Science - 11
2004 Lennartson B, Middleton R, Christiansson A-K, McKelvey T, 'Low order sampled data H8 control using the delta operator and LMIs', Proceedings of the IEEE Conference on Decision and Control, 4 4479-4484 (2004)

A procedure for H8 optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H8 controllers may be achieved... [more]

A procedure for H8 optimization of low order controllers for discrete-time and sampled-data systems is presented in this paper. Generally, low order H8 controllers may be achieved by solving bilinear matrix inequalities (BMIs). In this paper an iterative alternation between two LMIs gives a suboptimal solution. To avoid local minima in this search the initial controller is obtained by a frequency weighted controller reduction scheme, where the closed loop properties of a full order controller is taken into account. A minimal number of parameters in the state space realization of the controller also reduces the complexity and improves numerical robustness. The complete presentation is based on delta operator models, which shows a close relationship between the continuous- and discrete-time solutions. The sensitivity of the ordinary discrete-time shift operator LMI formulation to small sampling periods is also analyzed.

DOI 10.1109/CDC.2004.1429456
Citations Scopus - 17
2004 Lennartson B, Middleton R, Christiansson A-K, 'Unified, periodic & sampled data H8 control using the delta operator', Proceedings of the IEEE Conference on Decision and Control, 3 2364-2369 (2004)

A unified and general framework is presented for H8 control of mixed continuous-time and discrete-time time-varying (periodic) systems. Using the delta operator a close relationsh... [more]

A unified and general framework is presented for H8 control of mixed continuous-time and discrete-time time-varying (periodic) systems. Using the delta operator a close relationship is shown between the continuous- and discrete-time solutions. No assumptions are made on certain system matrices being zero or normalized, which makes the approach general and easy to apply. A combined continuous/discrete-time lifting procedure is shown to be useful, especially for illconditioned systems. This procedure together with the delta formalism results in a numerically robust design method concerning both short and long sampling periods for systems with ill-conditioned dynamics, including widely spread eigenvalues.

Citations Scopus - 3
2004 Middleton RH, Chalup SK, Quinlan MJ, Murch CL, 'Traction monitoring for collision detection with legged robots', Lecture Notes in Artificial Intelligence, 3020 374-384 (2004) [C1]
DOI 10.1007/b98623
Citations Web of Science - 1
Co-authors Stephan Chalup
2004 Chalup SK, Middleton RH, Quinlan MJ, Wiklendt LS, 'Neurocomputational aspects of legged locomotion motor control', Proceedings of the Australian Neuroscience Society, 15 105 (2004) [C3]
Co-authors Stephan Chalup
2004 Syaichu-Rohman A, Middleton RH, 'Anti-windup Schemes for Discrete Time Systems: An LMI-based Design', 2004 5th Asian Control Conference, 1 554-561 (2004)

Two anti-windup schemes for discrete time systems to achieve global stability and induced l2 performance are presented. The first scheme is a direct extension of an existing stati... [more]

Two anti-windup schemes for discrete time systems to achieve global stability and induced l2 performance are presented. The first scheme is a direct extension of an existing static anti-windup scheme for continuous systems. As in continuous time, a problem of implementing an algebraic loop formed arises. However, while preserving the stability and performance, an iterative algorithm to solve the algebraic loop within its prescribed time sampling may be employed. Alternatively, a closely related explicit static anti-windup scheme is proposed, in which no iterative solution at each time step is required. Simulation results are given for both schemes.

Citations Scopus - 14
2004 Middleton R, Braslavsky JH, Freudenberg J, 'Stabilization of non-minimum phase plants over signal-to-noise ratio constrained channels', 2004 5th Asian Control Conference, 3 1914-1922 (2004)

We recently considered feedback stabilization over a Signal to Noise Ratio (SNR) constrained channel. The results were examined for the state feedback and minimum phase cases, wit... [more]

We recently considered feedback stabilization over a Signal to Noise Ratio (SNR) constrained channel. The results were examined for the state feedback and minimum phase cases, with links to bit-rate limited control. In this paper, we extend this analysis to Non-Minimum Phase (NMP) plants, and show that for Linear Time Invariant (LTI) control, NMP zeros further constrain the ability to stabilize over an SNR limited channel. This differs from the situation of bit-rate limited stabilization where NMP zeros do not play a role. We show that by considering linear time varying feedback the effect of NMP zeros in SNR limited stabilization may be eliminated.

Citations Scopus - 1
Co-authors Julio Braslavsky
2004 Syaichu-Rohman A, Middleton RH, 'An explicit static anti-windup design for a class of two input two output plants', 2004 5th Asian Control Conference, 1 546-553 (2004)

We consider ill-conditioned two-input two-output (TITO) plants whose singular value decomposition (SVD) is independent of frequencies. For such plants we design a static anti-wind... [more]

We consider ill-conditioned two-input two-output (TITO) plants whose singular value decomposition (SVD) is independent of frequencies. For such plants we design a static anti-windup PI controller based on reverse frame (RF) approach. It has also been shown that this design approach results in a closely related controller structure with the static anti-windup controller design based on linear matrix inequality (LMI) optimisation. Furthermore, this simple design approach gives an explicit anti-windup implementation with good robustness properties. The simulation example also shows that this implementation allows independent controller and anti-windup design. The extension of these ideas to higher dimensional systems appears to be problematic at this point.

2003 Zhivoglyadov P, Middleton RH, 'Stability and switching control design issue for a class of discrete time hybrid systems', Automatica, 39 981-987 (2003) [C1]
DOI 10.1016/S0005-1098(02)00305-9
Citations Scopus - 4Web of Science - 3
2003 Zhivoglyadov P, Middleton RH, 'Networked control design for linear systems', Automatica, 39 743-750 (2003) [C1]
DOI 10.1016/S0005-1098(02)00306-0
Citations Scopus - 175Web of Science - 120
2003 Chen J, Middleton RH, 'Guest editorial - New developments and applications in performance limitation of feedback control', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 48 1297-1297 (2003)
DOI 10.1109/TAC.2003.816221
Citations Scopus - 17Web of Science - 13
2003 Freudenberg JS, Hollot CV, Middleton RH, Toochinda V, 'Fundamental Design Limitations of the general Control Configuration', IEEE Transactions on Automatic Control, 48 1355-1370 (2003) [C1]
DOI 10.1109/TAC.2003.815017
Citations Scopus - 43Web of Science - 36
2003 Lau K, Middleton RH, Braslavsky JH, 'Undershoot and Settling Time Tradeoffs for Nonminimum Phase Systems', IEEE Transactions on Automatic Control, 48 1389-1393 (2003) [C1]
DOI 10.1109/TAC.2003.815025
Citations Scopus - 26Web of Science - 15
Co-authors Julio Braslavsky
2003 Freudenberg JS, Hollot CV, Middleton RH, 'A tradeoff between disturbance attenuation and stability robustness', PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 4816-4821 (2003)
Citations Scopus - 5Web of Science - 2
2003 Lau K, Middleton RH, 'Switched integrator control schemes for integrating plants', EUROPEAN JOURNAL OF CONTROL, 9 539-559 (2003) [C1]
DOI 10.3166/ejc.9.539-559
Citations Scopus - 2Web of Science - 2
2002 Braslavsky JH, Middleton RH, Freudenberg JS, 'Cheap Control Performance of a Class of Nonright-Invertible Nonlinear Systems', IEEE Transactions on Automatic Control, 47 1314-1319 (2002) [C1]
2002 Chen G, Chen J, Middleton RH, 'Optimal Tracking Performance for SIMO Systems', IEEE Transactions on Automatic Control, 47 1770-1775 (2002) [C1]
Citations Web of Science - 18
2002 Chen J, Hara S, Qui L, Middleton R, 'Best achievable tracking performance in sampled-data control systems', Proceedings of the IEEE Conference on Decision and Control, 4 3889-3894 (2002) [C1]

In this paper we study the problem of tracking a step reference signal using sampled-data control systems. We investigate the best achievable tracking performance, where the perfo... [more]

In this paper we study the problem of tracking a step reference signal using sampled-data control systems. We investigate the best achievable tracking performance, where the performance is deemed best for it is the minimal attainable by all possible sampled-data stabilizing controllers. Our primary objective is to investigate the fundamental tracking performance limit in sampled-data systems, and to understand whether and how sampling and hold in a sampled-data system may impose intrinsic barriers to performance. For this optimal tracking performance. The result shows that a performance loss is generally incurred in a sampled-data system, in comparison to the tracking performance achievable by continuous-time controllers. This loss of performance, as so demonstrated by the expression, can be attributed to the non-minimum behaviors and the aliasing effects generated by samplers and hold devices.

Citations Scopus - 2
2002 Woodyatt AR, Seron MM, Freudenberg JS, Middleton RH, 'Cheap control tracking performance for non-right-invertible systems', INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 12 1253-1273 (2002) [C1]
DOI 10.1002/rnc.671
Citations Scopus - 14Web of Science - 10
Co-authors Maria Seron
2002 Zhivoglyadov P, Middleton RH, 'Switching controller design via convex polyhedral Lyapunov functions', Automatica, 38 1439-1448 (2002) [C1]
Citations Scopus - 5Web of Science - 3
2002 Freudenberg JS, Middleton RH, 'Scaling and redundancy for ill-conditioned two input, two output plants', Automatica, 38 499-505 (2002) [C1]
Citations Scopus - 2Web of Science - 2
2001 Woodyatt AR, Freudenberg JS, Middleton RH, 'An integral constraint for single input two output feedback systems', Automatica, 37 1717-1726 (2001) [C1]
Citations Scopus - 8Web of Science - 4
2001 Zhivoglyadov P, Middleton RH, Fu M, 'Further results on localization-based switching adaptive control', Automatica, 37 257-263 (2001) [C1]
Citations Web of Science - 8
Co-authors Minyue Fu
2000 Zhivoglyadov P, Middleton RH, Fu M, 'Localization Based Switching Adaptive Control for Time-Varying Discrete-Time Systems', IEEE Transactions on Automatic Control, 45, No. 4 752-755 (2000) [C1]
Citations Scopus - 56Web of Science - 31
Co-authors Minyue Fu
2000 De Dona JA, Goodwin GC, Middleton RH, Raeburn I, 'Convergence of Eigenvalues in State-Discretization of Linear Stochastic Systems', SIAM Journal on Matrix Analysis and Applications, 21, No 4 1102-1111 (2000) [C1]
Citations Scopus - 2Web of Science - 1
Co-authors Graham Goodwin, Jose Dedona
2000 Bosgra OH, Engell S, Middleton RH, Astrom KJ, 'Discussion on: 'Limitations on control system performance' by K.J. Astrom', EUROPEAN JOURNAL OF CONTROL, 6 21-26 (2000)
2000 Ortiz DS, Freudenberg JS, Middleton RH, 'Feedback limitations of linear sampled-data periodic digital control', International Journal of Robust and Nonlinear Control, 10, No 9 729-745 (2000) [C1]
Citations Scopus - 5Web of Science - 4
2000 Woodhouse DJ, Middleton RH, 'Assessment of analysis techniques used in determining grounding system potential rise from the fall of potential method', Proceedings of the IEEE Power Engineering Society Transmission and Distribution Conference, 2 1153-1158 (2000)

The prevalent method used to determine the Ground Potential Rise (GPR) of an earthing or grounding system is to perform a Fall of Potential (FOP) test undertaken during an groundi... [more]

The prevalent method used to determine the Ground Potential Rise (GPR) of an earthing or grounding system is to perform a Fall of Potential (FOP) test undertaken during an grounding system current injection test. Determining the test GPR requires analysis of FOP test data due to the FOP response's non-conservative asymptotic behaviour. This paper assesses achievable tolerance by FOP test analysis including recognised and alternative methods. Susceptibility to voltage and distance measurement noise is examined by application to an grounding system model to establish minimum error bounds and method estimation variation on GPR estimates. The applicability of the FOP test 'rule of thumb' termination condition, to take three to four readings beyond the 'knee' of the FOP response, is also examined. In particular, the question of whether appropriate information is gathered when this condition is met is discussed.

1999 Goodwin GC, Woodyatt AR, Middleton RH, Shim J, 'Fundamental Limitations due to jw-axis Zeros in SISO Systems', Automatica, 36, No. 6 857-863 (1999) [C1]
Citations Scopus - 25Web of Science - 23
Co-authors Graham Goodwin
1999 Middleton RH, Graebe SF, 'Slow Stable Open-Loop Poles: to Cancel or Not to Cancel', Automatica, 35, No. 5 877-886 (1999) [C1]
Citations Scopus - 18Web of Science - 18
1999 Freudenberg JS, Middleton RH, 'Properties of Single Input, Two Output Feedback Systems', International Journal of Control, 172, No. 16 1446-1465 (1999) [C1]
Citations Web of Science - 22
1999 Braslavsky JH, Middleton RH, Freudenberg JS, 'Cheap control performance of a class of non-right-invertible nonlinear systems', Proceedings of the IEEE Conference on Decision and Control, 5 4718-4723 (1999)

For strict-feedback nonlinear systems, this paper shows that it is impossible to reduce to zero the optimal cost in the regulation of more states than the number of control inputs... [more]

For strict-feedback nonlinear systems, this paper shows that it is impossible to reduce to zero the optimal cost in the regulation of more states than the number of control inputs in the system, even using unrestricted control effort. By constructing a near optimal cheap control law, we characterise the infirm value of the optimal regulation cost as the optimal value of a reduced-order regulator problem where the states with lower relative degree drive those with higher relative degree. We illustrate our results with two examples of practical interest: the optimal regulation of the rotational motion of a free rigid body, and the optimal control of a magnetic suspension system.

1998 Braslavsky JH, Middleton RH, Freudenberg JS, 'L2-Induced norms and frequency gains of sampled-data sensitivity operators', IEEE Transactions on Automatic Control, 43 252-258 (1998)

This paper develops exact, computable formulas for the frequency gain and L2-induced norm of the sensitivity operator in a sampled-data control system. With sampled data, we refer... [more]

This paper develops exact, computable formulas for the frequency gain and L2-induced norm of the sensitivity operator in a sampled-data control system. With sampled data, we refer to a system that combines both continuous-time and discrete-time signals, which is studied in continuous time. The expressions are obtained using lifting techniques in the frequency domain and have application in performance and stability robustness analysis taking into account full intersample information.

DOI 10.1109/9.661076
Citations Scopus - 14
Co-authors Julio Braslavsky
1998 Braslavsky JH, Middleton RH, Freudenberg JS, 'L2-Induced Norms and Frequency Gains of Sampled-Data Sensitivity Operators', IEEE Transactions on Automatic Control, 43 252-258 (1998) [C1]
Citations Web of Science - 11
Co-authors Julio Braslavsky
1997 Freudenberg JS, Middleton RH, Braslavsky JH, 'Robustness of zero shifting via generalized sampled-data hold functions', IEEE Transactions on Automatic Control, 42 1681-1692 (1997) [C1]
Citations Scopus - 19Web of Science - 17
Co-authors Julio Braslavsky
1997 Braslavsky JH, Meinsma G, Middleton RH, Freudenberg JS, 'On a key sampling formula relating the Laplace and Z transforms', Systems & Control Letters, 29 181-190 (1997) [C1]
Citations Scopus - 10Web of Science - 10
Co-authors Julio Braslavsky
1996 Braslavsky JH, Middleton RH, 'Global and semi-global stabilizability in certain cascade nonlinear systems', IEEE Transactions on Automatic Control, 41 876-881 (1996) [C1]
Citations Scopus - 14Web of Science - 15
Co-authors Julio Braslavsky
1996 Griffiths BJ, Middleton RH, Wilkie BA, 'Condition monitoring of the grinding process using light scattering', WEAR, 198 39-45 (1996)
DOI 10.1016/0043-1648(95)06906-2
Citations Web of Science - 1
1995 FEUER A, MIDDLETON R, 'CONDITIONING OF LMS ALGORITHMS WITH FAST SAMPLING', IEEE TRANSACTIONS ON SIGNAL PROCESSING, 43 1978-1981 (1995)
DOI 10.1109/78.403356
Citations Web of Science - 10
1995 BRASLAVSKY JH, MIDDLETON RH, FREUDENBERG JS, 'Sensitivity and robustness of sampled-data control systems: A frequency domain viewpoint.', PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 1040-1044 (1995)
Citations Scopus - 2Web of Science - 2
Co-authors Julio Braslavsky
1995 MIDDLETON R, FREUDENBERG J, 'NONPATHOLOGICAL SAMPLING FOR GENERALIZED SAMPLED-DATA HOLD FUNCTIONS', AUTOMATICA, 31 315-319 (1995)
DOI 10.1016/0005-1098(94)00095-Z
Citations Scopus - 36Web of Science - 30
1995 GOODWIN GC, MIDDLETON RH, 'PARAMETERIZATION OF LINEAR OBSERVERS AND ITS APPLICATION TO OBSERVER DESIGN - COMMENTS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 40 1147-1147 (1995)
DOI 10.1109/9.388704
Co-authors Graham Goodwin
1995 FREUDENBERG JS, MIDDLETON RH, BRASLAVSKY JH, 'INHERENT DESIGN LIMITATIONS FOR LINEAR SAMPLED-DATA FEEDBACK-SYSTEMS', INTERNATIONAL JOURNAL OF CONTROL, 61 1387-1421 (1995)
DOI 10.1080/00207179508921961
Citations Web of Science - 34
Co-authors Julio Braslavsky
1995 DOMANTI S, MCELWAIN DLS, MIDDLETON RH, 'ASYMPTOTIC APPROACH TO THE HILL MODEL OF SPREAD IN ROLLING', JOURNAL OF ENGINEERING MATERIALS AND TECHNOLOGY-TRANSACTIONS OF THE ASME, 117 75-81 (1995)
DOI 10.1115/1.2804374
Citations Web of Science - 2
1994 WANG YY, HILL DJ, MIDDLETON RH, GAO L, 'TRANSIENT STABILIZATION OF POWER-SYSTEMS WITH AN ADAPTIVE-CONTROL LAW', AUTOMATICA, 30 1409-1413 (1994)
DOI 10.1016/0005-1098(94)90005-1
Citations Scopus - 40Web of Science - 36
1994 GRIFFITHS BJ, MIDDLETON RH, WILKIE BA, 'LIGHT-SCATTERING FOR THE MEASUREMENT OF SURFACE FINISH - A REVIEW', INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 32 2683-2694 (1994)
DOI 10.1080/00207549408957092
Citations Web of Science - 5
1994 DOMANTI S, MCELWAIN DLS, MIDDLETON RH, 'MODEL OF COLD-ROLLING OF THIN METAL SHEETS BETWEEN NONPARALLEL ROLLS', APPLIED MATHEMATICAL MODELLING, 18 362-372 (1994)
DOI 10.1016/0307-904X(94)90222-4
Citations Scopus - 1Web of Science - 1
1994 BRASLAVSKY JH, MIDDLETON RH, 'GLOBAL AND SEMIGLOBAL STABILIZABILITY IN CERTAIN CASCADE NONLINEAR-SYSTEMS', PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3, 1761-1765 (1994)
Citations Scopus - 1Web of Science - 1
Co-authors Julio Braslavsky
1994 FREUDENBERG JS, MIDDLETON RH, BRASLAVSKY JH, 'INHERENT DESIGN LIMITATIONS FOR LINEAR SAMPLED-DATA FEEDBACK-SYSTEMS', PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3, 3227-3231 (1994)
Citations Scopus - 2Web of Science - 2
Co-authors Julio Braslavsky
1993 DOMANTI S, MCELWAIN DS, MIDDLETON RH, EDWARDS WJ, 'THE DECAY OF STRESSES INDUCED BY FLAT ROLLING OF METAL STRIP', INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES, 35 897-907 (1993)
DOI 10.1016/0020-7403(93)90028-S
Citations Scopus - 10Web of Science - 9
1993 WANG YY, HILL DJ, MIDDLETON RH, GAO L, 'TRANSIENT STABILITY ENHANCEMENT AND VOLTAGE REGULATION OF POWER-SYSTEMS', IEEE TRANSACTIONS ON POWER SYSTEMS, 8 620-627 (1993)
DOI 10.1109/59.260819
Citations Web of Science - 163
1992 GOODWIN GC, MIDDLETON RH, POOR HV, 'HIGH-SPEED DIGITAL SIGNAL-PROCESSING AND CONTROL', PROCEEDINGS OF THE IEEE, 80 240-259 (1992)
DOI 10.1109/5.123294
Citations Web of Science - 120
Co-authors Graham Goodwin
1992 SONG YD, MIDDLETON RH, 'DEALING WITH THE TIME-VARYING PARAMETER PROBLEM OF ROBOT MANIPULATORS PERFORMING PATH TRACKING TASKS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 37 1597-1601 (1992)
DOI 10.1109/9.256391
Citations Web of Science - 11
1992 MIDDLETON RH, KOKOTOVIC PV, 'BOUNDEDNESS PROPERTIES OF SIMPLE, INDIRECT ADAPTIVE-CONTROL SYSTEMS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 37 1989-1994 (1992)
DOI 10.1109/9.182489
Citations Web of Science - 13
1992 Middleton RH, 'Controller structures for parallel redundant failure tolerant control systems', Proceedings of the American Control Conference, 3 2099-2103 (1992)

As controllers, and particularly digital controllers, are increasingly being used in expensive and/or critical applicants, failure tolerance becomes an important issue. Several re... [more]

As controllers, and particularly digital controllers, are increasingly being used in expensive and/or critical applicants, failure tolerance becomes an important issue. Several researchers have looked at problems concerning transducer failures and using redundancy to improve fault tolerance. In this paper, tolerance to failures of the control hardware are considered, with particular emphasis on controller structures which correctly allow for multiple parallel controllers to be implemented. In particular, an internally stable, parallel redundant controller structure is given for MIMO linear controllers.

1992 Song Y-D, Middleton RH, Anderson JN, 'Study on the exponential path tracking control of robot manipulators via direct adaptive methods', Robotics and Autonomous Systems, 9 271-282 (1992)

Exponential path tracking control represents an important issue pertaining to the transient performance of robot control systems. In this paper, the so-called Exp-transformation i... [more]

Exponential path tracking control represents an important issue pertaining to the transient performance of robot control systems. In this paper, the so-called Exp-transformation is applied to obtain transformed robot dynamics models which are used to derive several adaptive control algorithms that achieve exponential path tracking. In contrast to the existing composite adaptive control method; where both the tracking error and the prediction error are used and persistent excitation (p.e.) is required, the proposed strategy requires only the tracking error. This makes the control structure simpler and easier to implement. The main contribution of this paper is the development of practical control strategies for which the p.e. requirement is completely removed (as opposed to relaxing it to semi-p.e. as was done in a recent work). The fundamental idea introduced for exponential stability analysis is conceptually simple and global results are obtained. © 1992.

DOI 10.1016/0921-8890(92)90043-X
Citations Scopus - 2
1991 MIDDLETON RH, 'TRADE-OFFS IN LINEAR-CONTROL SYSTEM-DESIGN', AUTOMATICA, 27 281-292 (1991)
DOI 10.1016/0005-1098(91)90077-F
Citations Scopus - 155Web of Science - 145
1991 ZHANG CS, MIDDLETON RH, EVANS RJ, 'STABLE HYBRID ADAPTIVE-CONTROL', INTERNATIONAL JOURNAL OF CONTROL, 53 1377-1394 (1991)
DOI 10.1080/00207179108953681
Citations Web of Science - 2
1991 Middleton RH, Kokotovic PV, 'Boundedness properties of simple indirect adaptive control systems', Proceedings of the American Control Conference, 2 1216-1220 (1991)

Adaptive controllers for a first order, linear, continuous time plant, with different estimators and control laws, are examined, and explicit solutions are obtained that completel... [more]

Adaptive controllers for a first order, linear, continuous time plant, with different estimators and control laws, are examined, and explicit solutions are obtained that completely describe the nonlinear behavior of the resultant adaptive systems. Some of these adaptive systems exhibit either finite time escapes, or other forms of unbounded behavior, due to a loss of stabilizability of the estimated model. Some fixes for the loss of stabilizability are analyzed. Implications of these results for the general indirect adaptive control case are discussed.

Citations Scopus - 1
1990 MIDDLETON RH, 'ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS USING DISCRETE-TIME IDENTIFICATION', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 35 633-637 (1990)
DOI 10.1109/9.53514
Citations Scopus - 4Web of Science - 5
1989 MIDDLETON RH, GOODWIN GC, WANG Y, 'ON THE ROBUSTNESS OF ADAPTIVE CONTROLLERS USING RELATIVE DEADZONES', AUTOMATICA, 25 889-896 (1989)
DOI 10.1016/0005-1098(89)90055-1
Citations Scopus - 4Web of Science - 4
Co-authors Graham Goodwin
1989 ZHANG CS, MIDDLETON RH, EVANS RJ, 'AN ALGORITHM FOR MULTIRATE SAMPLING ADAPTIVE-CONTROL', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 34 792-795 (1989)
DOI 10.1109/9.29418
Citations Scopus - 22Web of Science - 20
1989 GOODWIN GC, MIDDLETON RH, 'THE CLASS OF ALL STABLE UNBIASED STATE ESTIMATORS', SYSTEMS & CONTROL LETTERS, 13 161-163 (1989)
DOI 10.1016/0167-6911(89)90033-9
Citations Scopus - 35Web of Science - 33
Co-authors Graham Goodwin
1989 MIDDLETON RH, GOODWIN GC, LONGMAN RW, 'A METHOD FOR IMPROVING THE DYNAMIC ACCURACY OF A ROBOT PERFORMING A REPETITIVE TASK', INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 8 67-74 (1989)
DOI 10.1177/027836498900800506
Citations Scopus - 62Web of Science - 56
Co-authors Graham Goodwin
1989 Goodwin GC, Salgado ME, Middleton RH, 'Example applications of an integrated indirect adaptive design technique', International Journal of Adaptive Control and Signal Processing, 3 143-154 (1989)
Co-authors Graham Goodwin
1988 MIDDLETON RH, GOODWIN GC, HILL DJ, MAYNE DQ, 'DESIGN ISSUES IN ADAPTIVE-CONTROL', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 33 50-58 (1988)
DOI 10.1109/9.360
Citations Scopus - 260Web of Science - 298
Co-authors Graham Goodwin
1988 MIDDLETON RH, GOODWIN GC, 'ADAPTIVE-CONTROL OF TIME-VARYING LINEAR-SYSTEMS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 33 150-155 (1988)
DOI 10.1109/9.382
Citations Scopus - 112Web of Science - 116
Co-authors Graham Goodwin
1988 SALGADO ME, GOODWIN GC, MIDDLETON RH, 'MODIFIED LEAST-SQUARES ALGORITHM INCORPORATING EXPONENTIAL RESETTING AND FORGETTING', INTERNATIONAL JOURNAL OF CONTROL, 47 477-491 (1988)
DOI 10.1080/00207178808906026
Citations Scopus - 94Web of Science - 87
Co-authors Graham Goodwin
1988 SALGADO M, MIDDLETON R, GOODWIN GC, 'CONNECTION BETWEEN CONTINUOUS AND DISCRETE RICCATI-EQUATIONS WITH APPLICATIONS TO KALMAN FILTERING', IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 135 28-34 (1988)
Citations Scopus - 38Web of Science - 43
Co-authors Graham Goodwin
1988 MIDDLETON RH, GOODWIN GC, 'ADAPTIVE COMPUTED TORQUE CONTROL FOR RIGID LINK MANIPULATIONS', SYSTEMS & CONTROL LETTERS, 10 9-16 (1988)
DOI 10.1016/0167-6911(88)90033-3
Citations Scopus - 157Web of Science - 157
Co-authors Graham Goodwin
1987 MIDDLETON RH, 'INDIRECT CONTINUOUS-TIME ADAPTIVE-CONTROL', AUTOMATICA, 23 793-795 (1987)
DOI 10.1016/0005-1098(87)90041-0
Citations Scopus - 1Web of Science - 3
1987 MIDDLETON RH, 'ADAPTIVE CONTROLLER DESIGNS FOR ROBOT MANIPULATOR SYSTEMS USING LYAPUNOV DIRECT METHOD - COMMENT', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 32 749-749 (1987)
DOI 10.1109/TAC.1987.1104692
1987 Middleton RH, 'COMMENTS, WITH REPLY, ON 'ADAPTIVE CONTROLLER DESIGNS FOR ROBOT MANIPULATOR SYSTEMS USING LYAPUNOV DIRECT METHOD' BY K. Y. LIM, AND M. ESLAMI.', IEEE Transactions on Automatic Control, AC-32 749-749 (1987)

The commenter notes that in the above named work the extension to the nonlinear case presented is incomplete since the time varying nature of two parameters are overlooked. In rep... [more]

The commenter notes that in the above named work the extension to the nonlinear case presented is incomplete since the time varying nature of two parameters are overlooked. In replying, the author points out some of the original assumptions used which were applied to a specific class of nonlinear dynamic system and so must not be generalized without proper justification to another nonlinear system.

1987 WITTENMARK B, MIDDLETON RH, GOODWIN GC, 'ADAPTIVE DECOUPLING OF MULTIVARIABLE SYSTEMS', INTERNATIONAL JOURNAL OF CONTROL, 46 1993-2009 (1987)
DOI 10.1080/00207178708934029
Citations Web of Science - 34
Co-authors Graham Goodwin
1986 GOODWIN GC, LEAL RL, MAYNE DQ, MIDDLETON RH, 'RAPPROCHEMENT BETWEEN CONTINUOUS AND DISCRETE MODEL-REFERENCE ADAPTIVE-CONTROL', AUTOMATICA, 22 199-207 (1986)
DOI 10.1016/0005-1098(86)90081-6
Citations Scopus - 125Web of Science - 134
Co-authors Graham Goodwin
1986 MIDDLETON RH, GOODWIN GC, 'IMPROVED FINITE WORD-LENGTH CHARACTERISTICS IN DIGITAL-CONTROL USING DELTA-OPERATORS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 31 1015-1021 (1986)
DOI 10.1109/TAC.1986.1104162
Citations Scopus - 185Web of Science - 162
Co-authors Graham Goodwin
1986 MIDDLETON RH, CANTONI A, 'ELECTROMAGNETIC DAMPING FOR STEPPER MOTORS WITH CHOPPER DRIVES', IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 33 241-246 (1986)
DOI 10.1109/TIE.1986.350229
Citations Web of Science - 2
Show 134 more journal articles

Conference (139 outputs)

Year Citation Altmetrics Link
2015 Xie JQ, Middleton RH, 'Inherent design limitations for linear SISO output multirate sampled data control', ECC 1997 - European Control Conference (2015)

The main results in inherent design limitations for linear single rate sampled data feedback system are extended to SISO output multirate control case in this paper. It turns out ... [more]

The main results in inherent design limitations for linear single rate sampled data feedback system are extended to SISO output multirate control case in this paper. It turns out that just as in single rate control, unstable plant poles, non-minimum phase plant zeros, non-minimum phase hold zeros and non-minimum phase controller zeros also impose significant design constraints on the SISO output multirate feedback control. Moreover, compared with single rate control extra constraints will apply because of the multirate sampling control.

2015 Woodyatt AR, Middleton RH, 'Auto-tuning PID controller design using frequency domain approximation', ECC 1997 - European Control Conference (2015)

Recently techniques have been developed for the calculation of PID controller gains based on frequency domain approximation using least squares methods. This paper presents method... [more]

Recently techniques have been developed for the calculation of PID controller gains based on frequency domain approximation using least squares methods. This paper presents methods for auto-tuning PID controllers based on limited frequency response information, using a weighted least squares approximation to a desired open loop transfer function. Automated techniques used for the calculation of this desired open loop transfer function are described, and simulation results of the auto-tuner are presented. It is shown that the auto-tuner performs well, and effectively designs PID controllers in situations where other auto-tuning techniques have not, including the case of mildly oscillatory systems.

2015 Zhivoglyadov PV, Middleton RH, Fu M, 'Localization based switching adaptive controllers', ECC 1997 - European Control Conference (2015)

Many different types of adaptive or "universal controllers", capable of dealing with a very broad range of linear time-invariant 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 time-invariant 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 time-invariant discrete time systems of known nominal order, with disturbances and noise present. Analysis and simulations demonstrate the potential for greatly improved transient performance.

2014 Knorn S, Donaire AG, Aguero JC, Middleton R, 'Scalability of Bidirectional Vehicle Strings with Measurement Errors', Proceedings of the 19th IFAC World Congress, 2014, Cape Town, South Africa (2014) [E1]
DOI 10.3182/20140824-6-ZA-1003.00741
Co-authors Juan Aguero, Alejandro Donaire
2014 Knorn S, Middleton RH, 'Lymph compartment models and HIV intra patient infection dynamics', 2014 IEEE Conference on Control Applications, CCA 2014 (2014) [E1]

A compartment model is proposed to describe the HIV infection in humans. The compartments describe the blood, several lymph nodes and connecting lymph vessels. The dynamics in eac... [more]

A compartment model is proposed to describe the HIV infection in humans. The compartments describe the blood, several lymph nodes and connecting lymph vessels. The dynamics in each compartment are described by a simplified HIV model considering the healthy and infected T-cells. A bifurcation analysis based on the variation of the proliferation rate is discussed and supported by simulations. Additional simulations illustrate the effect of a simple mutation model.

DOI 10.1109/CCA.2014.6981557
2014 Chesi G, Middleton RH, 'On the robust stability of 2D mixed continuous-discrete-time systems with uncertainty', Proceedings of the 2014 American Control Conference, Portland, Oregon (2014) [E1]
DOI 10.1109/ACC.2014.6858695
2014 Shu Z, Middleton RH, Chen MZQ, 'To boost or not to boost: Immune activation in HIV infection', 2014 European Control Conference, ECC 2014 (2014) [E1]

Various clinical experiments have suggested the significant role of CD4+ T cells activation in viral spread and immune control of HIV infection. In this paper, we use a new mathem... [more]

Various clinical experiments have suggested the significant role of CD4+ T cells activation in viral spread and immune control of HIV infection. In this paper, we use a new mathematical model to explore the intricate interactions among immune activation, CTL response, T cell depletion, and immune escape. It is shown that enhanced immune activation and proliferation of CD4+ T cells, opposite to its beneficial effects in other infections, may facilitate infection and lead to the depletion of CD4+ T cells if effective immune control is not established. By contrast, once effective CTL response to HIV is mounted, the boost of CD4+ T cell response may be beneficial for controlling infection and alleviating immune impairment. Another finding is that immune escape may occur when the infection rate is low, and enhanced activation may prevent the escape if effective immune control can be established. Simulations are provided to illustrate the theoretical analysis.

DOI 10.1109/ECC.2014.6862284
2014 Peters AA, Mason O, Middleton RH, 'Cyclic interconnection in 1-D vehicle formation control', 2014 European Control Conference, ECC 2014, Strasbourg (2014) [E1]
DOI 10.1109/ECC.2014.6862586
2014 Cea MG, Goodwin GC, Carvajal R, Middleton RH, Mahata K, Karlsson RS, 'Channel estimation and interpolation for fourth generation mobile broadband telecommunications', IFAC Proceedings Volumes (IFAC-PapersOnline) (2014) [E1]

This paper studies the problem of channel estimation for the downlink in broadband LTE communications. A Kalman Filter is used to combine channel soundings made with pilot tones t... [more]

This paper studies the problem of channel estimation for the downlink in broadband LTE communications. A Kalman Filter is used to combine channel soundings made with pilot tones that are deployed at different times and in different frequency bands on a pre-selected pattern. This Kalman filter is presented in a form directly suitable for implementation as a periodically time varying filter, in the case where periodic pilot tone data is available. Simulation results illustrate the efficacy of this approach.

Co-authors Graham Goodwin, Kaushik Mahata
2014 Chesi G, Middleton RH, 'On the H-infinity norm of 2D mixed continuous-discrete-time systems via rationally-dependent complex lyapunov functions', IFAC Proceedings Volumes (IFAC-PapersOnline), Cape Town (2014) [E1]
DOI 10.3182/20140824-6-ZA-1003.00974
Citations Scopus - 1
2014 Lennartson B, Middleton RH, 'Optimal Anti-Aliasing Filter based on Multi Criteria Sampled-Data H8 Control', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014) [E1]
2014 Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014)
2014 Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014)
2014 Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014) [E1]
DOI 10.1109/CDC.2014.7039884
2014 Blanchini F, Colaneri P, Middleton RH, 'A convexity result for the optimal control of a class of positive nonlinear systems', IFAC Proceedings Volumes (IFAC-PapersOnline) (2014) [E1]

In this paper a class of input-parametrized bilinear positive systems is considered. This class is characterized by the fact that the input variables affect only the diagonal entr... [more]

In this paper a class of input-parametrized bilinear positive systems is considered. This class is characterized by the fact that the input variables affect only the diagonal entries of the dynamical matrix. The class of systems considered is relevant to a variety of dynamical models arising in system biology and compartmental systems. Given a final time tf, it is proven that the any component of the state vector at tf is a convex functional of the input variables. If a linear cost of the final state is considered this result has the important consequence that any Pontryagin solution of the associated optimal control problem is optimal and can be numerically computed by using standard gradient-type algorithms. A few extensions are given and an example is provided to illustrate the theory.

2013 Knorn S, Donaire A, Aguero JC, Middleton RH, 'Energy-based control of bidirectional vehicle strings', 2013 3rd Australian Control Conference (AUCC), Perth, Australia (2013) [E1]
DOI 10.1109/AUCC.2013.6697281
Citations Scopus - 1Web of Science - 1
Co-authors Juan Aguero, Alejandro Donaire
2013 Haimovich H, Middleton RH, De Nicolo L, 'Large-signal stability conditions for semi-quasi-Z-source inverters: Switched and averaged models', 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), Firenze (2013) [E1]
DOI 10.1109/CDC.2013.6760836
2013 Knorn S, Middleton RH, 'Two-dimensional analysis of string stability of nonlinear vehicle strings', 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), Firenze, Italy (2013) [E1]
DOI 10.1109/CDC.2013.6760814
2013 Stuedli S, Middleton RH, Braslavsky JH, 'A fixed-structure automaton for load management of electric vehicles', 2013 European Control Conference, ECC 2013, Zurich, Switzerland (2013) [E1]
Citations Scopus - 2Web of Science - 1
Co-authors Julio Braslavsky
2013 Liu M, McLoone S, Studli S, Middleton R, Shorten R, Braslavs J, 'On-off based charging strategies for EVs connected to a Low Voltage distributon network', Asia-Pacific Power and Energy Engineering Conference, APPEEC (2013)

The development of appropriate Electric Vehicle (EV) charging strategies has been identified as an effective way to accommodate an increasing number of EVs on Low Voltage (LV) dis... [more]

The development of appropriate Electric Vehicle (EV) charging strategies has been identified as an effective way to accommodate an increasing number of EVs on Low Voltage (LV) distribution networks. Most research studies to date assume that future charging facilities will be capable of regulating charge rates continuously, while very few papers consider the more realistic situation of EV chargers that support only on-off charging functionality. In this work, a distributed charging algorithm applicable to on-off based charging systems is presented. Then, a modified version of the algorithm is proposed to incorporate real power system constraints. Both algorithms are compared with uncontrolled and centralized charging strategies from the perspective of both utilities and customers. © 2013 IEEE.

DOI 10.1109/APPEEC.2013.6837241
2013 Stuedli S, Khan RH, Middleton RH, Khan JY, 'Performance analysis of an AIMD based EV charging algorithm over a wireless network', 2013 Australasian Universities Power Engineering Conference, AUPEC 2013, Hobart, Tasmania (2013) [E1]
DOI 10.1109/AUPEC.2013.6725362
Co-authors Jamil Khan
2013 Knorn S, Middleton RH, 'String stability analysis of a vehicle platoon with communication range 2 using the two-dimensional induced operator norm', 2013 European Control Conference, ECC 2013, Zurich, Switzerland (2013) [E1]
2013 Freudenberg JS, Middleton RH, 'Transient response of minimum variance control over a Gaussian communication channel', 2013 European Control Conference, ECC 2013, Zurich, Switzerland (2013) [E1]
2013 Chesi G, Middleton RH, 'A necessary and sufficient LMI condition for stability of 2D mixed continuous-discrete-time systems', 2013 European Control Conference, ECC 2013, Zurich, Switzerland (2013) [E1]
Citations Scopus - 1
2013 Liu M, Stuedli S, Middleton R, McLoone S, Shorten R, Braslavsky J, 'On-Off based Charging Strategies for EVs Connected to a Low Voltage Distributon Network', 2013 IEEE PES ASIA-PACIFIC POWER AND ENERGY ENGINEERING CONFERENCE (APPEEC), Hong Kong, PEOPLES R CHINA (2013)
2013 Freudenberg JS, Middleton RH, Wagner AB, 'Feedback properties of Gaussian channels with feedback', 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), Firenze, Italy (2013) [E1]
DOI 10.1109/CDC.2013.6761035
Citations Scopus - 1
2012 Studli S, Crisostomi E, Middleton RH, Shorten R, 'AIMD-like algorithms for charging electric and plug-in hybrid vehicles', 2012 IEEE International Electric Vehicle Conference, Greenville, SC (2012) [E1]
2012 Knorn S, Middleton RH, 'Two-dimensional frequency domain analysis of string stability', 2012 Australian Control Conference, Melbourne, Vic (2012) [E1]
2012 Whelan T, Stüdli S, McDonald J, Middleton RH, 'Efficient localization for robot soccer using pattern matching', Communications in Computer and Information Science, VIENNA, AUSTRIA (2012) [E1]
DOI 10.1007/978-3-642-34781-8_2
2012 Goodwin GC, Cea Garrido ME, Seron MM, Ferris DA, Middleton RH, Campos B, 'Opportunities and challenges in the application of nonlinear MPC to industrial problems', 4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12, Noordwijkerhout, NL (2012) [E1]
Citations Scopus - 1
Co-authors Maria Seron, Graham Goodwin
2012 Knorn S, Middleton RH, 'Asymptotic stability of two-dimensional continuous Roesser models with singularities at the stability boundary', 2012 IEEE 51st Annual Conference on Decision and Control (CDC). Conference Proceedings, Maui, Hawaii (2012) [E1]
2012 Lennartson B, Middleton RH, 'Numerical sensitivity of Linear Matrix Inequalities for shorter sampling periods', 2012 IEEE 51st Annual Conference on Decision and Control (CDC). Conference Proceedings, Maui, Hawaii (2012) [E1]
2012 Lopez-Caamal F, Garcia MR, Oyarzun DA, Middleton RH, 'Analytic computation of the integrated response in nonlinear reaction-diffusion systems', 51st IEEE Conference on Decision and Control. Conference Proceedings, Maui, Hawaii (2012) [E1]
Citations Scopus - 2Web of Science - 2
2012 Lopez-Caamal F, Garcia MR, Middleton RH, 'Reducing computational time via order reduction of a class of reaction-diffusion systems', 2012 AMERICAN CONTROL CONFERENCE (ACC), Montreal, CANADA (2012) [E2]
2012 Garcia MR, Pearlmutter BA, Wellstead PE, Verwoerd M, Middleton RH, 'A functional mechanism for deep brain stimulation in Parkinson's disease: The slow axon blockade hypothesis', MOVEMENT DISORDERS, Dublin, IRELAND (2012) [E3]
2012 Francis F, Garcia MR, Wellstead P, Middleton R, 'L-type calcium channel block and energy implications for substantia nigra neurons', MOVEMENT DISORDERS, Dublin, IRELAND (2012) [E3]
Citations Web of Science - 1
2012 Hernandez-Vargas EA, Colaneri P, Middleton RH, 'Sub-optimal switching with dwell time constraints for control of viral mutation', 2012 IEEE 51st Annual Conference on Decision and Control (CDC). Conference Proceedings, Maui, Hawaii (2012) [E1]
Citations Scopus - 1
2011 Shu Z, Hernandez-Vargas EA, Middleton RH, 'A Mathematical Study on Immune Activation and Related Dynamics in HIV Infection', 2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), Orlando, FL (2011) [E1]
Citations Web of Science - 3
2011 Peters AA, Middleton RH, 'Leader velocity tracking and string stability in homogeneous vehicle formations with a constant spacing policy', IEEE International Conference on Control and Automation, ICCA, Santiago, Chile (2011) [E1]
DOI 10.1109/ICCA.2011.6138068
Citations Scopus - 3
2011 García MR, Verwoerd M, Pearlmutter BA, Wellstead PE, Middleton RH, 'Deep brain stimulation may reduce tremor by preferential blockade of slower axons via antidromic activation', Proceedings of the IEEE Conference on Decision and Control, Orlando, FL (2011) [E1]
DOI 10.1109/CDC.2011.6160710
Citations Scopus - 2Web of Science - 1
2011 Yu B, Freudenberg JS, Gillespie RB, Middleton RH, 'String instability in coupled harmonic oscillator systems', Proceedings of the IEEE Conference on Decision and Control, Orlando, FL (2011) [E1]
DOI 10.1109/CDC.2011.6161385
Citations Scopus - 2Web of Science - 2
2011 Oyarzun DA, Middleton RH, 'Optimal adaptation of metabolic networks in dynamic equilibrium', 2011 AMERICAN CONTROL CONFERENCE, San Fransisco, CA (2011) [E1]
2010 Quinlan MJ, Middleton RH, 'Multiple model Kalman filters: A localization technique for RoboCup soccer', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Graz, AUSTRIA (2010) [E1]
DOI 10.1007/978-3-642-11876-0_24
Citations Scopus - 9Web of Science - 5
2010 Hernandez-Vargas EA, Middleton RH, Colaneri P, Blanchini F, 'Dynamic Optimization Algorithms to mitigate HIV escape', 49TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), Atlanta, GA (2010) [E1]
DOI 10.1109/CDC.2010.5717251
Citations Web of Science - 3
2010 Chesi G, Colaneri P, Geromel JC, Middleton R, Shorten R, 'Computing Upper-bounds of the Minimum Dwell Time of Linear Switched Systems via Homogeneous Polynomial Lyapunov Functions', 2010 AMERICAN CONTROL CONFERENCE, Baltimore, MD (2010) [E1]
Citations Web of Science - 8
2010 Zappavigna A, Colaneri P, Geromel JC, Middleton R, 'Stabilization of Continuous-Time Switched Linear Positive Systems', 2010 AMERICAN CONTROL CONFERENCE, Baltimore, MD (2010) [E2]
Citations Web of Science - 20
2010 Francis F, Garcia MR, Wellstead P, Middleton R, 'An Ill-Fated Substantia Nigra Through the Systems Looking Glass: An Energetic Overview', MOVEMENT DISORDERS (2010) [E3]
2010 Boerlage M, Middleton R, Steinbuch M, Jager BD, 'Rejection of fixed direction disturbances in multivariable electromechanical motion systems', Mechatronics, Seoul, SOUTH KOREA (2010) [E1]
DOI 10.1016/j.mechatronics.2009.06.015
Citations Scopus - 1Web of Science - 1
2009 Shorten R, Corless M, Middleton R, Klinge S, Wulff K, 'A quadratic stability result for singular switched systems with application to anti-windup control', 2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, St Louis, MO (2009) [E1]
DOI 10.1109/ACC.2009.5160413
Citations Web of Science - 4
2009 Ferreira J, O'Donoghue Y, Middleton R, 'Analysis of HIV mutation dynamics for a linear mutation tree', Proceedings of the IEEE Conference on Decision and Control, Shanghai, PEOPLES R CHINA (2009) [E1]
DOI 10.1109/CDC.2009.5400800
2009 Klinge S, Middleton RH, 'Time headway requirements for string stability of homogeneous linear unidirectionally connected systems', Proceedings of the IEEE Conference on Decision and Control, Shanghai, PEOPLES R CHINA (2009) [E1]
DOI 10.1109/CDC.2009.5399965
Citations Scopus - 10Web of Science - 7
2009 Freudenberg JS, Middleton RH, 'Stabilization and performance over a gaussian communication channel for a plant with time delay', Proceedings of the American Control Conference, St Louis, MO (2009) [E1]
DOI 10.1109/ACC.2009.5160645
Citations Scopus - 2Web of Science - 1
2009 Medioli AM, Seron MM, Middleton R, 'Null controllable sets of unstable systems and their application to MPC', ECC'09: European Control Conference 2009 Proceedings, Budapest, Hungary (2009) [E1]
Co-authors Maria Seron
2009 Medioli AM, Seron MM, Middleton R, 'Reduced parameterisation MPC for input-constrained unstable linear systems: Part 1: Implementation', ECC'09: European Control Conference 2009 Proceedings, Budapest, Hungary (2009) [E1]
Co-authors Maria Seron
2009 Medioli AM, Seron MM, Middleton RH, 'Reduced parameterisation MPC for input-constrained unstable linear systems: Part 2: Properties', ECC'09: European Control Conference 2009 Proceedings, Budapest, Hungary (2009) [E1]
Co-authors Maria Seron
2008 Henderson N, Nicklin SP, Wong AS, Kulk JA, Chalup SK, King R, et al., 'The 2008 NUManoids Team Report', RoboCup. Participating Teams 2008. Downloads, Suzhou, China (2008) [E2]
Co-authors Stephan Chalup
2008 Freudenberg JS, Middleton RH, 'Feedback control performance over a noisy communication channel', 2008 IEEE Information Theory Workshop, ITW, Porto, PORTUGAL (2008) [E1]
DOI 10.1109/ITW.2008.4578657
Citations Scopus - 5Web of Science - 4
2008 Henderson N, King R, Middleton RH, 'An application of Gaussian mixtures: Colour segmenting for the four legged league using HSI colour space', Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Atlanta, GA (2008) [E1]
DOI 10.1007/978-3-540-68847-1_23
Citations Scopus - 3
Co-authors Robert King
2008 Rojas AJ, Middleton RH, Freudenberg JS, Braslavsky JH, 'Input disturbance rejection in channel signal-to-noise ratio constrained feedback control', Proceedings of the American Control Conference 2008, Seattle, Washington (2008) [E1]
DOI 10.1109/acc.2008.4586969
Citations Scopus - 8Web of Science - 2
Co-authors Julio Braslavsky
2008 Freudenberg JS, Middleton RH, Braslavsky JH, 'Minimum variance control over a Gaussian communication channel', Proceedings of the American Control Conference 2008, Seattle, Washington (2008) [E1]
DOI 10.1109/acc.2008.4586888
Citations Scopus - 7Web of Science - 6
Co-authors Julio Braslavsky
2007 Mitchell SD, Welsh JS, Middleton RH, Phung BT, 'Practical implementation of a narrowband high frequency distributed model for locating partial discharge in a power transformer', 2007 EIC/EM EXPO. Electrical Insulation Conference and Electrical Manufacturing Expo. Proceedings, Nashville, TN (2007) [E2]
DOI 10.1109/EEIC.2007.4562603
Co-authors James Welsh, Steve Mitchell
2007 Braslavsky JH, Rojas AJ, Middleton RH, 'Feedback control over signal to noise ratio constrained communication channels', CT07 Abstracts, San Francisco, CA (2007) [E3]
Co-authors Julio Braslavsky
2007 Rojas AJ, Braslavsky JH, Middleton RH, 'Output feedback sensitivity functions under signal to noise ratio constraint', Proceedings of the 2007 American Control Conference ACC '07, New York (2007) [E1]
DOI 10.1109/acc.2007.4282601
Citations Scopus - 4
Co-authors Julio Braslavsky
2007 Rojas AJ, Braslavsky JH, Middleton RH, 'Output feedback sensitivity functions under signal to noise ratio constraint', 2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, New York, NY (2007)
Co-authors Julio Braslavsky
2007 Freudenberg JS, Middleton RH, Braslavsky JH, 'Stabilization with disturbance attenuation over a Gaussian channel', PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, New Orleans, LA (2007)
Co-authors Julio Braslavsky
2007 Mitchell SD, Welsh JS, Middleton RH, Phung BT, 'A narrow band high frequency distributed power transformer model for partial discharge location', Conference Proceedings of the 2007 Australasian Universities Power Engineering Conference. AUPEC'07, Perth, WA (2007) [E1]
Co-authors James Welsh, Steve Mitchell
2007 Henderson N, King RA, Middleton RH, 'An application of Gaussian mixtures: Colour segmenting for the four legged league using HSI colour space', 11th Annual RoboCup International Symposium 2007. Proceedings, Atlanta, Georgia (2007) [E1]
Co-authors Robert King
2007 Nicklin SP, Fisher RD, Middleton RH, 'Rolling shutter image compensation', Lecture Notes in Computer Science, Bremen, Germany (2007) [E1]
DOI 10.1007/978-3-540-74024-7
Citations Scopus - 7Web of Science - 4
2007 Freudenberg JS, Middleton RH, Braslavsky JH, 'Stabilization with disturbance attenuation over a Gaussian channel', Proceedings of the 46th IEEE Conference on Decision and Control, 2007, New Orleans (2007) [E1]
DOI 10.1109/cdc.2007.4434535
Citations Scopus - 16
Co-authors Julio Braslavsky
2006 Braslavsky JH, Middleton RH, Freudenberg JS, 'Effects of Time Delay on Feedback Stabilisation over Signal-To-Noise Ratio Constrained Channels', Proceedings of 16th IFAC World Congress, Prague, Czech Republic (2006) [E1]
Co-authors Julio Braslavsky
2006 Lennartson B, Middleton RH, Christiansson A-K, Fransson C-M, 'Multi Criteria Sampled-Data Control Applied To The Choice of Sampling Rate And Anti-Alias Filter', Proceedings of 16th IFAC World Congress, Prague, Czech Republic (2006) [E1]
2006 Miller DE, Middleton RH, 'On Limitations to the Achievable Path Tracking Performance for Linear Multivariable Plants', Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA (2006) [E1]
2006 Rojas AJ, Freudenberg JS, Braslavsky JH, Middleton RH, 'Optimal Signal to Noise Ratio in Feedback over Communicatiion Channels with Memory', Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA (2006) [E1]
Citations Scopus - 6Web of Science - 4
Co-authors Julio Braslavsky
2006 Middleton RH, Kellett CM, Shorten RN, 'Fairness and Convergence Results for Additive-Increase Multiplicative-Decrease Multiple-Bottleneck Networks', Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA (2006) [E1]
Citations Web of Science - 1
Co-authors Chris Kellett
2006 Rojas AJ, Braslavsky JH, Middleton RH, 'Output Feedback Stabilisation over Bandwidth Limited, Signal to Noise Ratio Constrained Communication Channels', Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA (2006) [E1]
Citations Scopus - 20Web of Science - 4
Co-authors Julio Braslavsky
2006 Freudenberg JS, Middleton RH, Solo V, 'The Minimal Signal-to-Noise Ratio Required to Stabilize over a Noisy Channel', Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA (2006) [E1]
Citations Scopus - 20Web of Science - 2
2006 Peterson KS, Middleton RH, Freudenberg JS, 'Fundamental Limitations in Self-Sensing Magnetic Bearings when Modeled as Linear Periodic Systems', Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA (2006) [E1]
Citations Scopus - 4
2006 Chalup SK, Dickinson MR, Fisher RD, Middleton RH, Quinlan MJ, Turner PD, 'Proposal of a Kit-Style Robot as the New Standard Platform for the Four-Legged League', Proceedings of the 2006 Australasian Conference on Robotics & Automation, Auckland, New Zealand (2006) [E1]
Co-authors Michael Dickinson, Stephan Chalup
2005 Rojas AJ, Middleton RH, 'Phase analysis for 2-D weakly coupled oscillatory systems', Proceedings of the 2005 American Control Conference, Portland, Oregon (2005) [E1]
2005 Medioli AM, Seron MM, Middleton RH, 'Best Possible Region of Attraction for a Class of Unstable Systems Using Short Horizon MPC Concepts', Proceedings of 44th IEEE Conference on Decision and Control, Seville, Spain (2005) [E1]
Co-authors Maria Seron
2005 Freudenberg J, Braslavsky JH, Middleton RH, 'Control Over Signal-To-Noise Ratio Constrained Channels: Stabilization and Performance', Proceedings of 44th IEEE Conference on Decision and Control, Seville, Spain (2005) [E1]
Citations Scopus - 8Web of Science - 1
Co-authors Julio Braslavsky
2005 Rojas AJ, Braslavsky JH, Middleton RH, 'Control Over A Bandwidth Limited Signal to Noise Ratio Constrained Communication Channel', Proceedings of The 44th IEEE Conference on Decision and Control, Seville, Spain (2005) [E1]
DOI 10.1109/CDC.2005.1582154
Citations Scopus - 13Web of Science - 5
Co-authors Julio Braslavsky
2005 Mirzaeva G, Middleton RH, Coates C, McKerihan J, 'Electrical Drive Technology Advances for Mining Applications', 2005 Australian Mining Technology Conference : 'new technologies to produce more with less' : 27 - 28 September 2005 Fremantle, WA, Fremantle, Western Australia (2005) [E1]
Co-authors Colin Coates
2005 Seysener CJ, Murch CL, Middleton RH, 'Extensions to object recognition in the four-legged league', RoboCup 2004: Robot Soccer World Cup VIII, Lisbon, Portugal (2005) [E1]
Citations Web of Science - 2
2004 Syaichu-Rohman A, Middleton RH, 'Convergence study of some simple gradient projection based QP solvers for MPC', 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, Paradise Isl, BAHAMAS (2004)
DOI 10.1109/CDC.2004.1429295
2004 Rohman AS, Middleton RH, 'Anti-windup schemes for discrete time systems: an lmi-based design', CD ROM, Melbourne (2004) [E1]
2004 Rohman AS, Middleton RH, 'An explicit static anti windup design for a class of two input two output plants', CD ROM, Melbourne (2004) [E1]
2004 Middleton RH, Braslavsky JH, Freudenberg J, 'Stabization of non-minimum phase plants over signal-to-noise ratio constrained channels', CD ROM, Melbourne (2004) [E1]
Co-authors Julio Braslavsky
2004 Braslavsky JH, Middleton RH, Freudenberg JS, 'Feedback stabilization over signal-to-noise ratio constrained channels', CD ROM, Boston (2004) [E1]
Citations Scopus - 34Web of Science - 17
Co-authors Julio Braslavsky
2004 Middleton RH, Griffiths MN, McNeill LK, 'An application of the extended kalman filter to robot soccer localisation and world modelling', CD ROM, Sydney (2004) [E1]
2003 Lau K, Middleton RH, 'Switched Integrator Control Schemes for Integrating Plants', Proceedings for ECC 2003, Cambridge, England (2003) [E1]
2003 Rohman AS, Middleton RH, Seron MM, 'A Multivariable Nonlinear Algebraic Loop as a QP with Applications to MPC', Proceedings for ECC 2003, Cambridge, England (2003) [E1]
Co-authors Maria Seron
2003 Xu SZ, Middleton R, Fetherston F, Pantalone D, 'A comparison of return voltage measurement and frequency domain spectroscopy test on high voltage insulation', PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON PROPERTIES AND APPLICATIONS OF DIELECTRIC MATERIALS, VOLS 1-3, NAGOYA, JAPAN (2003)
Citations Scopus - 14Web of Science - 2
2003 Xu S, Mitchell SD, Middleton RH, 'Partial Discharge Localization for a Transformer Based on Frequency Spectrum Analysis', Proceeding for AUPEC 2003, Christchurch, NZ (2003) [E1]
Co-authors Steve Mitchell
2003 Middleton RH, Lau K, Braslavsky JH, 'Conjectures and Counterexamples on Optimal L2 Disturbance Attenuation in Nonlinear Systems', Proceedings for the CDC 2003 (CD ROM), Maui, Hawaii, USA (2003) [E1]
Citations Scopus - 4
Co-authors Julio Braslavsky
2003 Quinlan MJ, Chalup SK, Middleton RH, 'Techniques for Improving Vision and Locomotion on the Sony AIBO Robot', Proceedings for 2003 ARAA, Brisbane (2003) [E1]
Co-authors Stephan Chalup
2003 Quinlan MJ, Chalup SK, Middleton RH, 'Application of SVMs for Colour Classification and Collision Detection with AIBO Robots', Proceedings for NIPS 2003, Whistler, BC (2003) [E1]
Citations Scopus - 8Web of Science - 5
Co-authors Stephan Chalup
2002 Middleton RH, Braslavsky JH, 'Towards quantitative time domain design tradeoffs in nonlinear control', PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, ANCHORAGE, AK (2002) [E1]
Co-authors Julio Braslavsky
2002 Xu SZ, Middleton R, Liu XD, Chenchen, 'A new method based on wavelet packet transformation to reduce narrow band noise in on-site PD measurement', 2002 IEEE POWER ENGINEERING SOCIETY SUMMER MEETING, VOLS 1-3, CONFERENCE PROCEEDINGS, CHICAGO, IL (2002)
Citations Scopus - 4
2002 Freudenberg J, Middleton RH, 'Robustness of Decoupling with Almost Redundant Inputs', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002 Marcopoli V, Freudenberg J, Middleton RH, 'Nonminimum Phase Zeros in the General Feedback Configuration', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002 Middleton RH, Braslavsky JH, 'Towards Quantitative Time Domain Design Tradeoffs in Nonlinear Control', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002 Chen J, Hara S, Qiu L, Middleton RH, 'Best Achievable tracking Performance in Sampled - Data Control Systems', Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA (2002) [E1]
2002 Syaichu-Rohman A, Middleton RH, 'On The Robustness Of Multivariable Algebraic Loops With Sector Nonlinearities', Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA (2002) [E1]
Citations Scopus - 12Web of Science - 6
2001 Middleton RH, Freudenberg JS, McClamroch NH, 'Sensitivity and Robustness Properties in the Preview Control of Linear Non-Minimum Phase Plants', Proceedings of the American Control Conference, Arlington, Virginia (2001) [E1]
Citations Scopus - 7Web of Science - 2
2001 Middleton RH, Chen J, Freudenberg JS, 'Achievable Performance and Sensitivity Integral Constraints in Preview Control', Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida USA (2001) [E1]
2001 Chen G, Chen J, Middleton RH, 'Optimal Tracking Performance for SIMO Systems', Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida USA (2001) [E1]
Citations Scopus - 27Web of Science - 1
2001 Zhivoglyadov P, Middleton RH, 'A Method for Switching Controller Design for Discrete Time Hybrid Sysems', Proceedings of the 40th IEEE Conference on Decision and Control, Orlando, Florida USA (2001) [E1]
2000 Middleton RH, Braslavsky JH, 'On the relationship between logarithmic sensitivity integrals and limiting optimal control problems', CDC Downunder, Sydney, Australia (2000) [E1]
Citations Scopus - 11Web of Science - 7
Co-authors Julio Braslavsky
2000 Lau K, Middleton RH, 'On the use of switching control for systems with bounded disturbances', CDC Downunder, Sydney, Australia (2000) [E1]
Citations Scopus - 3
2000 Cornforth DJ, Middleton RH, Tusek J, 'Visualisation of electrical transients using the wavelet transform', Proceedings of ISTA'2000, Canberra, Australia (2000) [E2]
Co-authors David Cornforth
2000 Freudenberg J, Middleton RH, Stefanopoulou A, 'A Survey of Inherent Design Limitations', Proceedings of the American Control Conference, Chicago, Illinois, USA (2000) [E1]
2000 Middleton RH, Lau K, Freudenberg JS, 'Time Domain Integrals for Linear Sampled Data Control Systems', Robust Control Workshop 2000 - Workshop Proceedings (CD-Rom), Newcastle, Australia (2000) [E2]
1999 Ward JK, Middleton RH, 'Sequential Approach to Control Systems Synthesis with Constraints', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1]
1999 Zhivoglyadov P, Middleton RH, 'A Novel Approach to Systematic Switching Control Design for a Class of Hybrid Systems', Proceedings of the 38th Conference on Decision and Control, Phoenix, Arizona USA (1999) [E1]
Citations Scopus - 1
1999 Braslavsky JH, Middleton RH, Freudenberg JS, 'Cheap Control Performance of a Class of Non-Right-Invertible Nonlinear Systems', Proceedings of the 38th Conference on Decision and Control, Phoenix, Arizona USA (1999) [E1]
Citations Scopus - 10Web of Science - 7
Co-authors Julio Braslavsky
1999 Middleton RH, Ward JK, Freudenberg JS, Woodyatt AR, 'Performance Limitations in the Feedback Control of a Class of Resonant Systems', Proceedings of the 38th Conference on Decision and Control, Phoenix, Arizona USA (1999) [E1]
Citations Scopus - 7
1999 Braslavsky JH, Middleton RH, Freudenberg JS, 'Performance Limitations in a Class of Single-Input Two-Output Nonlinear Systems', Proceedings of the American Control Conference, San Diego, California, USA (1999) [E1]
Citations Scopus - 1
Co-authors Julio Braslavsky
1999 Freudenberg J, Middleton RH, 'Feedback Systems with an Almost Rank Deficient Plant', Proceedings of the American Control Conference, San Diego, California, USA (1999) [E1]
1998 Goodwin GC, Middleton RH, 'Advanced control applications in the steel industry', AUTOMATION IN THE STEEL INDUSTRY: CURRENT PRACTICE AND FUTURE DEVELOPMENTS, KYONGJOO, SOUTH KOREA (1998)
Co-authors Graham Goodwin
1998 Freudenberg J, Middleton RH, 'Properties of Single Input, Two Output Feedback Systems', Proceedings of the 1998 American Control Conference, Philadelphia, Pennsylvania (1998) [E1]
Citations Scopus - 5
1998 Zhivoglyadov P, Middleton RH, 'On Stability in Hybrid Systems', Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, USA (1998) [E1]
Citations Scopus - 1Web of Science - 3
1998 Woodyatt AR, Seron MM, Freudenberg JS, Middleton RH, 'Cheap Control Tracking Performance for Non-Right-Invertible Systems', Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, USA (1998) [E1]
Citations Scopus - 3Web of Science - 4
Co-authors Maria Seron
1998 Weller SR, Middleton RH, 'On the role of sampling zeros in robust sampled-data control design', Proceedings of the 37th IEEE Conference on Decision and Control., Tampa, Florida USA (1998) [E1]
Citations Scopus - 2Web of Science - 2
Co-authors Steven Weller
1997 De Dona JA, Goodwin GC, Middleton RH, 'Consistent state-discretization of linear systems', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, SAN DIEGO, CA (1997)
Co-authors Jose Dedona, Graham Goodwin
1997 Zhivoglyadov PV, Middleton RH, Fu M, 'Localization based switching adaptive control for time-varying discrete time systems', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5, SAN DIEGO, CA (1997)
Citations Scopus - 9Web of Science - 6
Co-authors Minyue Fu
1995 MIDDLETON R, XIE JQ, 'Non-pathological sampling for high order Generalised Sampled-data Hold Functions', PROCEEDINGS OF THE 1995 AMERICAN CONTROL CONFERENCE, VOLS 1-6, SEATTLE, WA (1995)
Citations Web of Science - 1
1995 Braslavsky J, Middleton R, Freudenberg J, 'Frequency response of generalized sampled-data hold functions', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, NEW ORLEANS, LA (1995)
Co-authors Julio Braslavsky
1994 BRASLAVSKY JH, MIDDLETON RH, 'ON THE STABILISATION OF LINEAR UNSTABLE SYSTEMS WITH CONTROL CONSTRAINTS', AUTOMATIC CONTROL - WORLD CONGRESS 1993, VOL 2, SYDNEY, AUSTRALIA (1994)
Co-authors Julio Braslavsky
1993 BETZ RE, LAGERQUIST R, MILLER TJE, MIDDLETON RH, 'CONTROL OF SYNCHRONOUS RELUCTANCE MACHINES', IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, DEARBORN, MI (1993)
DOI 10.1109/28.259721
Citations Scopus - 77Web of Science - 60
Co-authors Robert Betz
1992 WANG YY, XIE LH, HILL DJ, MIDDLETON RH, 'ROBUST NONLINEAR CONTROLLER-DESIGN FOR TRANSIENT STABILITY ENHANCEMENT OF POWER-SYSTEMS', PROCEEDINGS OF THE 31ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, TUCSON, AZ (1992)
Citations Web of Science - 48
1991 WANG YY, HILL DJ, MIDDLETON RH, 'ADAPTIVE DIRECT FEEDBACK LINEARIZATION OF NONLINEAR OSCILLATORY SYSTEMS', PROCEEDINGS OF THE 30TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-3, BRIGHTON, ENGLAND (1991)
1991 SONG YD, MIDDLETON RH, ANDERSON JN, 'STUDY ON THE EXPONENTIAL PATH TRACKING CONTROL OF ROBOT MANIPULATORS VIA DIRECT ADAPTIVE METHODS', 1991 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, SACRAMENTO, CA (1991)
1988 Middleton RH, 'Hybrid adaptive control for robot manipulators', Proceedings of the IEEE Conference on Decision and Control (1988)

An adaptive control scheme is proposed for rigid-link robots where the control signal computations are performed continuously and the control coefficient computations are performe... [more]

An adaptive control scheme is proposed for rigid-link robots where the control signal computations are performed continuously and the control coefficient computations are performed discretely. A global boundedness result is established for the resulting hybrid scheme, independent of the sampling rate. It is also shown that the position, velocity and acceleration tracking errors are of the order of the sampling period. This study brings the analysis of adaptive robot control closer to practice, where a discrete control law implementation is invariably used.

Citations Scopus - 6
1988 Middleton RH, 'Frequency domain adaptive control', National Conference Publication - Institution of Engineers, Australia (1988)
1988 Goodwin GC, Salgado ME, Middleton RH, 'Indirect adaptive control: An integrated approach.', Proceedings of the American Control Conference (1988)

A key feature of the approach presented is the separate optimization of procedures for estimation and online control law synthesis. Regarding the estimation module, attention is g... [more]

A key feature of the approach presented is the separate optimization of procedures for estimation and online control law synthesis. Regarding the estimation module, attention is given to such features as data filtering, the response of the estimator, techniques for handling unmodeled dynamics and the question of numerical accuracy. Regarding the control law synthesis module, attention is given to robustness to unstructured modeling errors, disturbance and set-point feedforward techniques and implementation issues. The performance is illustrated by reference to a case study.

Citations Scopus - 3
Co-authors Graham Goodwin
1986 Middleton RH, 'RECENT DEVELOPMENTS IN PRACTICAL ADAPTIVE CONTROL.', National Conference Publication - Institution of Engineers, Australia (1986)

The concept of adaptive control has existed for quite some time now; however, it is only recently that the necessary theory and hardware has reached the point where implementation... [more]

The concept of adaptive control has existed for quite some time now; however, it is only recently that the necessary theory and hardware has reached the point where implementation is practical. This paper discusses some aspects of adaptive controller design which may be crucial for a successful application. Results from recent laboratory tests conducted on an electromechanical servo system are presented. A discussion of some further areas where practical work is needed is included.

1986 Goodwin GC, Hill DJ, Mayne DQ, Middleton RH, 'ADAPTIVE ROBUST CONTROL (CONVERGENCE, STABILITY AND PERFORMANCE).', Proceedings of the IEEE Conference on Decision and Control (1986)

The authors show that a robust adaptive controller can be developed which stabilizes all members of a wide class of systems. The class of systems includes those having significant... [more]

The authors show that a robust adaptive controller can be developed which stabilizes all members of a wide class of systems. The class of systems includes those having significant unmodeled dynamics and nonminimum phase characteristics. The theoretical results are supported by experimental evidence of the claimed robustness properties. The success of the algorithm is a result of the amalgamation of various techniques including regression vector filtering, pole assignment, estimator deadzone, least squares and internal model principle.

Citations Scopus - 2
Co-authors Graham Goodwin
1986 Middleton RH, Goodwin GC, 'ADAPTIVE COMPUTED TORQUE CONTROL FOR RIGID LINK MANIPULATORS.', Proceedings of the IEEE Conference on Decision and Control (1986)

The adaptive control of rigid link manipulator systems is examined. A parameterization of a general rigid body which yields dynamic equations that are linear in the unknown parame... [more]

The adaptive control of rigid link manipulator systems is examined. A parameterization of a general rigid body which yields dynamic equations that are linear in the unknown parameter is given. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.

Citations Scopus - 20
Co-authors Graham Goodwin
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Grants and Funding

Summary

Number of grants 36
Total funding $13,667,713

Click on a grant title below to expand the full details for that specific grant.


20152 grants / $645,900

Integrated Feedback Control in Future Wireless Communication Networks$350,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Dr Robert Karlsson, Doctor Duy Ngo, Dr Torbjorn Wigren, Associate Professor Kaushik Mahata, Ms Ying Sun, Dr Linda Brus
Scheme Linkage Projects
Role Lead
Funding Start 2015
Funding Finish 2015
GNo G1401341
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Sensitivity Analysis of Networked Feedback Systems$295,900

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton
Scheme Discovery Projects
Role Lead
Funding Start 2015
Funding Finish 2015
GNo G1400129
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

20145 grants / $2,290,872

Food & Beverage Supply Chain Optimisation Industrial Transformation Training Centre$2,119,872

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Associate Professor Regina Berretta, Associate Professor Michael Bowyer, Doctor Ali Eshragh, Doctor Masoud Talebian, Associate Professor Behnam Fahimnia, Professor Mathieu Savelsbergh, Professor Natashia Boland, Dr Costas Stathopoulos, Professor John Bartholdi, Doctor John Golding, Doctor Simon Dunstall, Mrs Carlee McGowan, Mr Robert McMahon, Mr Robert Scoines, Mr Tim Norris, Doctor Christopher Scarlett
Scheme Industrial Transformation Training Centres
Role Lead
Funding Start 2014
Funding Finish 2014
GNo G1301004
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Food & Beverage Supply Chain Optimisation Industrial Transformation Training Centre$90,000

Funding body: Coca Cola Amatil (Australia)

Funding body Coca Cola Amatil (Australia)
Project Team Professor Rick Middleton, Associate Professor Regina Berretta, Associate Professor Michael Bowyer, Doctor Ali Eshragh, Doctor Christopher Scarlett, Doctor Masoud Talebian, Associate Professor Behnam Fahimnia, Professor Mathieu Savelsbergh, Professor Natashia Boland, Dr Costas Stathopoulos, Professor John Bartholdi, Doctor John Golding, Doctor Simon Dunstall, Mrs Carlee McGowan, Mr Robert McMahon, Mr Robert Scoines, Mr Tim Norris
Scheme ARC IC Partner Funding
Role Lead
Funding Start 2014
Funding Finish 2014
GNo G1301129
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Food & Beverage Supply Chain Optimisation Industrial Transformation Training Centre$30,000

Funding body: Sanitarium Health and Wellbeing Company

Funding body Sanitarium Health and Wellbeing Company
Project Team Professor Rick Middleton, Associate Professor Regina Berretta, Associate Professor Michael Bowyer, Doctor Ali Eshragh, Doctor Christopher Scarlett, Doctor Masoud Talebian, Associate Professor Behnam Fahimnia, Professor Mathieu Savelsbergh, Professor Natashia Boland, Dr Costas Stathopoulos, Professor John Bartholdi, Doctor John Golding, Doctor Simon Dunstall, Mrs Carlee McGowan, Mr Robert McMahon, Mr Robert Scoines, Mr Tim Norris
Scheme ARC IC Partner Funding
Role Lead
Funding Start 2014
Funding Finish 2014
GNo G1301130
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Food & Beverage Supply Chain Optimisation Industrial Transformation Training Centre$30,000

Funding body: Sunrice

Funding body Sunrice
Project Team Professor Rick Middleton, Associate Professor Regina Berretta, Associate Professor Michael Bowyer, Doctor Ali Eshragh, Doctor Christopher Scarlett, Doctor Masoud Talebian, Associate Professor Behnam Fahimnia, Professor Mathieu Savelsbergh, Professor Natashia Boland, Dr Costas Stathopoulos, Professor John Bartholdi, Doctor John Golding, Doctor Simon Dunstall, Mrs Carlee McGowan, Mr Robert McMahon, Mr Robert Scoines, Mr Tim Norris
Scheme ARC IC Partner Funding
Role Lead
Funding Start 2014
Funding Finish 2014
GNo G1301131
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Applying non-cooperative dynamic interactive decision theory to wind farms and other forms of distributed energy generation, in the context of microgrids and/or the (Australian) National Electricity M$21,000

Funding body: CSIRO - Commonwealth Scientific and Industrial Research Organisation

Funding body CSIRO - Commonwealth Scientific and Industrial Research Organisation
Project Team Professor Rick Middleton, Dr John Ward
Scheme Postgraduate Scholarship
Role Lead
Funding Start 2014
Funding Finish 2014
GNo G1500169
Type Of Funding Other Public Sector - State
Category 2OPS
UON Y

20131 grants / $330,000

Dynamics & Feedback in Networked Biological Systems$330,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Associate Professor Zhiyong Chen, Professor Patrizio Colaneri
Scheme Discovery Projects
Role Lead
Funding Start 2013
Funding Finish 2013
GNo G1200202
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

20123 grants / $543,000

Scheduling and Quality of Service in LTE Telecommunications$360,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Emeritus Laureate Professor Graham Goodwin, Professor Rick Middleton, Doctor Juan Carlos Aguero, Associate Professor Kaushik Mahata, Dr Robert Karlsson, Mr Jawad Manssour, Dr Torbjorn Wigren
Scheme Linkage Projects
Role Investigator
Funding Start 2012
Funding Finish 2012
GNo G1101043
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Scheduling and Quality of Service in LTE Telecommunications$153,000

Funding body: Ericsson AB

Funding body Ericsson AB
Project Team Emeritus Laureate Professor Graham Goodwin, Professor Rick Middleton, Doctor Juan Carlos Aguero, Associate Professor Kaushik Mahata, Dr Robert Karlsson, Mr Jawad Manssour, Dr Torbjorn Wigren
Scheme Linkage Projects Partner funding
Role Investigator
Funding Start 2012
Funding Finish 2012
GNo G1200170
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Development of a distributed algorithm for assigning charge rates to electric vehicles (load management)$30,000

Funding body: CSIRO - Energy Technology

Funding body CSIRO - Energy Technology
Project Team Professor Rick Middleton, Associate Professor Christopher Kellett, Ms Sonja Stuedli
Scheme Postgraduate Research Scholarship
Role Lead
Funding Start 2012
Funding Finish 2012
GNo G1200823
Type Of Funding Other Public Sector - Commonwealth
Category 2OPC
UON Y

20062 grants / $540,000

Nano-positioning facility for nano-scale measurement and manipulation$530,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Reza Moheimani, Scientia Professor Ian Petersen, Emeritus Laureate Professor Graham Goodwin, Professor Rick Middleton, Professor Minyue Fu, Dr Valeri Ougrinovska, Dr Hermanshu Pota, Doctor Andrew Fleming, Dr Steven Schofield
Scheme Linkage Infrastructure Equipment & Facilities (LIEF)
Role Investigator
Funding Start 2006
Funding Finish 2006
GNo G0185548
Type Of Funding Scheme excluded from IGS
Category EXCL
UON Y

Rapid Convergence for Reinforcement Learning with Legged Robots$10,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Stephan Chalup, Dr Michael Quinlan, Doctor Robert King, Professor Rick Middleton
Scheme Near Miss Grant
Role Investigator
Funding Start 2006
Funding Finish 2006
GNo G0186068
Type Of Funding Internal
Category INTE
UON Y

20052 grants / $105,000

2005 RIBG allocation$75,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
Scheme Research Infrastructure Block Grant (RIBG)
Role Lead
Funding Start 2005
Funding Finish 2005
GNo G0185781
Type Of Funding Internal
Category INTE
UON Y

2005 RIBG allocation$30,000

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
Scheme Research Infrastructure Block Grant (RIBG)
Role Lead
Funding Start 2005
Funding Finish 2005
GNo G0185782
Type Of Funding Internal
Category INTE
UON Y

20042 grants / $289,319

Next Generation Model Based Control Tools$250,000

Funding body: Matrikon Pty Ltd

Funding body Matrikon Pty Ltd
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin, Doctor Gregory Adams
Scheme Centres of Excellence (Partner)
Role Lead
Funding Start 2004
Funding Finish 2004
GNo G0185845
Type Of Funding Contract - Aust Non Government
Category 3AFC
UON Y

Application of spiking neural networks to robot locomotion control$39,319

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Stephan Chalup, Professor Rick Middleton
Scheme Multi-Year Project Grant Scholarship
Role Investigator
Funding Start 2004
Funding Finish 2004
GNo G0183487
Type Of Funding Internal
Category INTE
UON Y

20034 grants / $7,875,018

Centre for Complex Dynamic Systems and Control.$6,929,432

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin, Professor Minyue Fu, Conjoint Professor Kerrie Mengersen, Professor Iain Raeburn, Professor Reza Moheimani, Dr William Heath, Doctor Julio Braslavsky, Associate Professor Jose De Dona, Doctor Richard Gerlach, Doctor Maria Seron, Associate Professor Brailey Sims
Scheme ARC Centres of Excellence
Role Lead
Funding Start 2003
Funding Finish 2003
GNo G0182216
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Centre for Complex Dynamic Systems and Control$445,586

Funding body: NSW Department of State and Regional Development

Funding body NSW Department of State and Regional Development
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
Scheme Centres of Excellence (Partner)
Role Lead
Funding Start 2003
Funding Finish 2003
GNo G0185594
Type Of Funding Other Public Sector - State
Category 2OPS
UON Y

Integrated Mine Planning (IMP)$250,000

Funding body: BHP Billiton Innovation Pty Ltd

Funding body BHP Billiton Innovation Pty Ltd
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
Scheme Centres of Excellence (Partner)
Role Lead
Funding Start 2003
Funding Finish 2003
GNo G0185847
Type Of Funding Contract - Aust Non Government
Category 3AFC
UON Y

Optimisation-based operator guidance (OBOG)$250,000

Funding body: BHP Billiton Innovation Pty Ltd

Funding body BHP Billiton Innovation Pty Ltd
Project Team Professor Rick Middleton, Emeritus Laureate Professor Graham Goodwin, Doctor Julio Braslavsky
Scheme Centres of Excellence (Partner)
Role Lead
Funding Start 2003
Funding Finish 2003
GNo G0185849
Type Of Funding Contract - Aust Non Government
Category 3AFC
UON Y

20021 grants / $6,429

Visit of Prof Bernhard Nebel, from 15 August 2002 to 15 March 2003$6,429

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Associate Professor Mary-Anne Williams, Conjoint Professor Kerrie Mengersen, Professor Rick Middleton
Scheme Visitor Grant
Role Investigator
Funding Start 2002
Funding Finish 2002
GNo G0182222
Type Of Funding Internal
Category INTE
UON Y

20012 grants / $199,113

Instantaneous Power Control of AC Machines$169,113

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Robert Betz, Professor Rick Middleton, Dr Brian Cook
Scheme Large Grant
Role Investigator
Funding Start 2001
Funding Finish 2001
GNo G0179249
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Adaptive Autopilots Research for DSTO Salisbury, South Australia$30,000

Funding body: Defence Science and Technology Organisation

Funding body Defence Science and Technology Organisation
Project Team Professor Rick Middleton
Scheme Consultancy
Role Lead
Funding Start 2001
Funding Finish 2001
GNo G0180746
Type Of Funding Other Public Sector - Commonwealth
Category 2OPC
UON Y

20003 grants / $504,131

Signal Processing for Off-line and On-line Condition Monitoring of Electrical Power Equipment.$252,000

Funding body: Pacific Power International

Funding body Pacific Power International
Project Team Professor Rick Middleton, Mr B Finlay, Doctor Liuping Wang
Scheme SPIRT Partner funding
Role Lead
Funding Start 2000
Funding Finish 2000
GNo G0180162
Type Of Funding Contract - Aust Non Government
Category 3AFC
UON Y

Signal Processing for Off-line and On-line Condition Monitoring of Electrical Power Equipment$200,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton
Scheme Strategic Partnerships with Industry - Research & Training Scheme (SPIRT)
Role Lead
Funding Start 2000
Funding Finish 2000
GNo G0178640
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Direct feedback control of vibrations using piezoelectric actuators$52,131

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Reza Moheimani, Professor Rick Middleton
Scheme Multi-Year Project Grant Scholarship
Role Investigator
Funding Start 2000
Funding Finish 2000
GNo G0178814
Type Of Funding Internal
Category INTE
UON Y

19992 grants / $15,900

Fault Diagnosis of Power Transformers using Impulse Voltage Testing and Frequency Response Analysis.$13,500

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton
Scheme Project Grant
Role Lead
Funding Start 1999
Funding Finish 1999
GNo G0178080
Type Of Funding Internal
Category INTE
UON Y

28th IEEE Annual Conference on Decision and Control Phoenix, Arizona, USA.$2,400

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton
Scheme Travel Grant
Role Lead
Funding Start 1999
Funding Finish 1999
GNo G0180456
Type Of Funding Internal
Category INTE
UON Y

19961 grants / $11,500

Robust adaptive switching controllers$11,500

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton, Professor Minyue Fu
Scheme Small Grant
Role Lead
Funding Start 1996
Funding Finish 1996
GNo G0175682
Type Of Funding Scheme excluded from IGS
Category EXCL
UON Y

19952 grants / $200,144

95APP. Sensitivity trade offs for digital and/or periodically time varying feedback systems.$122,144

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Professor Rick Middleton
Scheme Large Grant
Role Lead
Funding Start 1995
Funding Finish 1995
GNo G0174487
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Electrical & Computer Engineering$78,000

Funding body: Department of Education, Training & Youth Affairs

Funding body Department of Education, Training & Youth Affairs
Project Team Professor Rick Middleton
Scheme Research Infrastructure Block Grant (RIBG)
Role Lead
Funding Start 1995
Funding Finish 1995
GNo G0175579
Type Of Funding Scheme excluded from IGS
Category EXCL
UON Y

19941 grants / $2,362

1994 American Control Conference - Baltimore - 29 June-1 July 1994$2,362

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton
Scheme Travel Grant
Role Lead
Funding Start 1994
Funding Finish 1994
GNo G0175102
Type Of Funding Internal
Category INTE
UON Y

19933 grants / $109,025

Analysis and Design of Robust Control Systems.$50,000

Funding body: ARC (Australian Research Council)

Funding body ARC (Australian Research Council)
Project Team Assoc. Prof Carlos De Souza, Professor Minyue Fu, Professor Rick Middleton
Scheme Large Grant
Role Investigator
Funding Start 1993
Funding Finish 1993
GNo G0173046
Type Of Funding Aust Competitive - Commonwealth
Category 1CS
UON Y

Transient and Local Stability Problems in Feedback Control Systems$29,604

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton
Scheme Project Grant
Role Lead
Funding Start 1993
Funding Finish 1993
GNo G0172735
Type Of Funding Internal
Category INTE
UON Y

Transient and local stability problems in feedback control systems$29,421

Funding body: University of Newcastle

Funding body University of Newcastle
Project Team Professor Rick Middleton, Dr Herbert Penfold
Scheme Project Grant
Role Lead
Funding Start 1993
Funding Finish 1993
GNo G0174765
Type Of Funding Internal
Category INTE
UON Y
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Research Supervision

Number of supervisions

Completed12
Current9

Total current UON EFTSL

Masters2.95
PhD2.2

Current Supervision

Commenced Research Title / Program / Supervisor Type
2014 Nonlinear State Estimation and Control of Multiple UUV's in Close Proximity
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2014 Applying Non-Cooperative Dynamic Interactive Decision Theory to Wind Farms and Other Forms of Distributed Energy Generation, in the Context of Microgrids and/or the (Australian) National Electricity Market (NEM)
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2013 Ingot Chain Casting - Control Strategy Upgrade from Batch to Continuous
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2013 Consensus of MAS with Nonlinear Dynamics and Network Constraints
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2013 Fusing Infra-Red Horizon Sensors with INS to Create Fault Tolerant Redundancy on a UAV
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2012 Development of Real-Time 3D Treatment Verification System using Electronic Portal Imaging Device (EPID) for Radiation Therapy
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2012 Development of Real-Time 3D Treatment Verification System using Electronic Portal Imaging Device (EPID) for Radiation Therapy
Electrical Engineering, Faculty of Science and Information Technology
Principal Supervisor
2012 Distributed Load Management Supporting Power Injection and Reactive Power Balancing
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2010 Dynamic Control of an Induction Heating Process to Reduce Energy Consumption
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor

Past Supervision

Year Research Title / Program / Supervisor Type
2014 Multiple Hypothesis Methods for Robot Self Localisation
Computer Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2008 Modelling and Feedback Control of Copper Heap Bioleaching Processes
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2008 Maximal Controllability via Reduced Complexity Model Predictive Control
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2007 Feedback Control Over Signal to Noise Ratio Constrained Communication Channels
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2007 Piezo-Electric Power Scavenging for Mining Applications
Computer Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2006 Machine Learning on AIBO Robots
Computer Science, Faculty of Engineering and Built Environment
Co-Supervisor
2005 Optimisation Based Feedback Control of Input Constrained Linear Systems
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2005 Quantized Moving Horizon Optimization
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2004 A frequency domain approach to constrained receding horizon control
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2004 An Evolution in Earthing System Testing - Refinement of Earthing System Current Injection Testing and its analysis, with emphasis on Earth Potential Rise estimation
Electrical Engineering, Faculty of Engineering and Built Environment
Sole Supervisor
2003 Time Domain Feedback Performance Limitations - Extensions to Nonlinear, Switched, and Sampled Systems
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2002 Control of the Inverted Pendulum - An Integrated Approach
Electrical Engineering, Faculty of Engineering and Built Environment
Sole Supervisor
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News

Australian Research Council (ARC)

ARC Discovery Project funding success

November 21, 2014

Professor Rick Middleton has been awarded more than $295,000 in ARC Discovery Project funding commencing in 2015 for his research project Sensitivity Analysis of Networked Feedback Systems.

Professor Rick Middleton

Position

Head of School
CDSC
School of Elect Engineering and Computer Science
Faculty of Engineering and Built Environment

Focus area

Electrical and Computer Engineering

Contact Details

Email richard.middleton@newcastle.edu.au
Phone (02) 492 16488
Fax (02) 496 01712

Office

Room EAG03
Building Engineering A
Location Callaghan
University Drive
Callaghan, NSW 2308
Australia
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