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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

CodeDescriptionPercentage
080199Artificial Intelligence and Image Processing not elsewhere classified20
080299Computation Theory and Mathematics not elsewhere classified5
090699Electrical and Electronic Engineering not elsewhere classified75

Professional Experience

UON Appointment

DatesTitleOrganisation / Department
1/01/2014 - ProfessorUniversity of Newcastle
School of Elect Engineering and Computer Science
Australia

Academic appointment

DatesTitleOrganisation / Department
1/01/2006 - 1/12/2006Program Chair45th IEEE Conference on Decision and Control
Australia
1/01/2006 - Vice President - Conference ActivitiesIEEE Control Systems Society
Australia
1/01/2004 - 1/12/2005Vice President - Member ActivitiesIEEE Control Systems Society
Australia
1/01/2003 - DirectorUniversity of Newcastle
ARC Centre of Excellence for Complex Dynamics and Control
Australia
1/01/2003 - Node LeaderUniversity of Newcastle
CRC-Mining
Australia
1/01/1999 - Membership - IEEE Control Systems SocietyIEEE Control Systems Society
Australia
1/01/1999 - 31/12/2007Membership - I.E. Aust (Engineers Australia)Engineers Australia
1/01/1998 - 31/12/2004Associate Editor - Automatica JournalAutomatica Journal
Australia
1/01/1998 - 31/12/1998FellowIEEE
Australia
1/01/1997 - 31/12/2000Associate Editor - IEEE Transactions on Control Systems TechnologyIEEE Transactions on Control Systems Technology
Australia
1/01/1997 - 1/12/2001Associate DirectorUniversity of Newcastle
Centre for Integrated Dynamics & Control (CIDAC)
Australia
1/07/1995 - 1/12/1995Visiting Associate Research ScientistThe University of Michigan, Ann Arbor, USA
Electrical Engineering
United States
1/01/1994 - 1/12/1996Head of DepartmentUniversity of Newcastle
Engineering & Built Environment
Australia
1/01/1992 - 1/12/1996Associate DirectorUniversity of Newcastle
Centre for Integrated Dynamics & Control (CIDAC)
Australia
1/01/1991 - 31/12/1992Editorial Board - IEEE Transactions on Automatic Control IEEE Transactions on Automatic Control
Australia

Membership

DatesTitleOrganisation / Department
Vice President - Member ActivitiesIEEE Control Systems Society
Australia
1/01/1998 - 31/12/2000ARC Sub Panel Committee Member ARC
Australia

Awards

Recognition

YearAward
2004M.A. Sargeant Medal
Engineers Australia
1994Royal Society of NSW Edgeworth-David Medal
Royal Society of New South Wales
1991Outstanding 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)

YearCitationAltmetricsLink
2015Stüdli 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.

DOI10.1007/978-981-287-302-6_7
Co-authorsJulio Braslavsky
2015Fuangrod 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)
DOI10.1016/j.ejmp.2014.11.002Author URL
CitationsScopus - 2Web of Science - 2
Co-authorsPeter Greer
2015Fuangrod 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)
DOI10.1016/j.ejmp.2014.11.002Author URL
CitationsScopus - 3Web of Science - 2
Co-authorsPeter Greer
2014Colaneri 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]
DOI10.1016/j.automatica.2014.02.025Author URL
CitationsScopus - 2Web of Science - 1
Co-authorsZhiyong Chen
2014Knorn S, Donaire A, Agueero JC, Middleton RH, 'Passivity-based control for multi-vehicle systems subject to string constraints', AUTOMATICA, 50 3224-3230 (2014)
DOI10.1016/j.automatica.2014.10.038Author URL
Co-authorsJuan Aguero, Alejandro Donaire
2014Peters 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.

DOI10.1016/j.automatica.2013.09.034
CitationsScopus - 2Web of Science - 2
2014Knorn 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.

DOI10.1016/j.automatica.2014.10.038
Co-authorsAlejandro Donaire, Juan Aguero
2014Chesi 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.

DOI10.1109/TAC.2014.2299353
CitationsScopus - 4Web of Science - 1
2014Stüdli 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.

DOI10.1080/00207179.2013.868930
CitationsScopus - 2Web of Science - 1
2014Fuangrod 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]
DOI10.1088/0031-9155/59/1/61Author URL
Co-authorsPeter Greer, John Oconnor
2014López-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.

DOI10.1007/s00285-013-0644-z
CitationsScopus - 2Web of Science - 1
2014Yu 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.

DOI10.1002/rnc.3229
2014Hernandez-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.

DOI10.1109/TCST.2013.2280920
CitationsScopus - 3
2014Lopez-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.

DOI10.1109/TCBB.2014.2316010
2013Hernandez-Vargas EA, Colaneri P, Middleton RH, 'Optimal therapy scheduling for a simplified HIV infection model', AUTOMATICA, 49 2874-2880 (2013) [C1]
DOI10.1016/j.automatica.2013.06.001Author URL
CitationsScopus - 7Web of Science - 4
2013Knorn 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]
DOI10.1109/TAC.2013.2264852Author URL
CitationsScopus - 6Web of Science - 3
2013Hernandez-Vargas EA, Middleton RH, 'Modeling the three stages in HIV infection', JOURNAL OF THEORETICAL BIOLOGY, 320 33-40 (2013) [C1]
DOI10.1016/j.jtbi.2012.11.028Author URL
CitationsScopus - 10Web of Science - 9
2013Francis 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]
DOI10.1007/s10827-013-0453-9Author URL
CitationsScopus - 2Web of Science - 2
2013Goodwin 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.

DOI10.1016/j.arcontrol.2013.09.006
Co-authorsMaria Seron, Graham Goodwin
2013Oyarzun DA, Lopez-Caamal F, Garcia MR, Middleton RH, Weisse AY, 'Cumulative Signal Transmission in Nonlinear Reaction-Diffusion Networks', PLOS ONE, 8 (2013) [C1]
DOI10.1371/journal.pone.0062834Author URL
CitationsScopus - 2Web of Science - 2
2013Garcia 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]
DOI10.1371/journal.pone.0073456Author URL
CitationsScopus - 1Web of Science - 1
2012Chesi 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]
DOI10.1109/TAC.2011.2174665Author URL
CitationsScopus - 29Web of Science - 22
2012Lennartson 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]
CitationsScopus - 9Web of Science - 5
2012Studli 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]
CitationsScopus - 25Web of Science - 15
2012Lopez-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]
DOI10.1016/j.jtbi.2012.01.026Author URL
CitationsScopus - 2Web of Science - 2
2012O'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]
DOI10.1016/j.sysconle.2011.10.015Author URL
CitationsScopus - 1Web of Science - 1
2012Whelan 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.

DOI10.1007/978-3-642-32060-6_22
2012Cloutier M, Middleton R, Wellstead P, 'Feedback motif for the pathogenesis of Parkinson's disease', IET SYSTEMS BIOLOGY, 6 86-93 (2012) [C1]
DOI10.1049/iet-syb.2011.0076Author URL
CitationsScopus - 4Web of Science - 3
2011Corcoran P, Winstanley A, Mooney P, Middleton R, 'Background Foreground Segmentation for SLAM', IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 12 1177-1183 (2011) [C1]
DOI10.1109/TITS.2011.2143706Author URL
CitationsScopus - 3Web of Science - 3
2011Medioli AM, Seron MM, Middleton R, 'Maximal controllability of input constrained unstable systems by the addition of implicit constraints', Automatica, 47 2260-2266 (2011) [C1]
DOI10.1016/j.automatica.2011.08.001
Co-authorsMaria Seron
2011Shu Z, Middleton RH, 'Stabilization Over Power-Constrained Parallel Gaussian Channels', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 56 1718-1724 (2011) [C1]
DOI10.1109/TAC.2011.2135270Author URL
CitationsScopus - 17Web of Science - 11
2011Freudenberg JS, Middleton RH, Braslavsky JH, 'Minimum variance control over a Gaussian communication channel', IEEE Transactions on Automatic Control, 56 1751-1765 (2011) [C1]
DOI10.1109/TAC.2010.2097831
CitationsScopus - 15Web of Science - 12
Co-authorsJulio Braslavsky
2011Ferreira 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]
DOI10.1016/j.cmpb.2011.07.011Author URL
CitationsScopus - 6Web of Science - 6
2011Hernandez-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]
DOI10.1002/rnc.1628Author URL
CitationsScopus - 62Web of Science - 37
2011Middleton R, 'Conferences on Decision and Control', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-13 (2011) [O1]
DOI10.1109/MCS.2010.940071Author URL
2011Middleton R, 'Publications', IEEE CONTROL SYSTEMS MAGAZINE, 31 11-12 (2011) [O1]
DOI10.1109/MCS.2011.940723Author URL
CitationsWeb of Science - 1
2011Middleton R, 'Challenges and Future Directions', IEEE CONTROL SYSTEMS MAGAZINE, 31 13-14 (2011) [O1]
DOI10.1109/MCS.2011.941293Author URL
CitationsWeb of Science - 1
2011Middleton R, 'Memories and Lessons from Adaptive Control', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-14 (2011) [O1]
DOI10.1109/MCS.2011.942048Author URL
2011Middleton R, 'The Half Century', IEEE CONTROL SYSTEMS MAGAZINE, 31 12-15 (2011) [O1]
DOI10.1109/MCS.2011.942549Author URL
2010Weisse AY, Middleton RH, Huisinga W, 'Quantifying uncertainty, variability and likelihood for ordinary differential equation models', BMC SYSTEMS BIOLOGY, 4 (2010) [C1]
DOI10.1186/1752-0509-4-144Author URL
CitationsScopus - 4Web of Science - 2
2010Freudenberg JS, Middleton RH, Solo V, 'Stabilization and Disturbance Attenuation Over a Gaussian Communication Channel', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 55 795-799 (2010) [C1]
DOI10.1109/TAC.2010.2040507Author URL
CitationsScopus - 35Web of Science - 24
2010Middleton 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]
DOI10.1109/TAC.2010.2042318
CitationsScopus - 56Web of Science - 43
Co-authorsJulio Braslavsky
2009Middleton 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]
DOI10.1109/tac.2008.2007183
CitationsScopus - 20Web of Science - 12
Co-authorsJulio Braslavsky
2009Braslavsky JH, Middleton RH, Freudenberg JS, 'Authors' reply', IEEE Transactions on Automatic Control, 54 1427 (2009) [C3]
DOI10.1109/tac.2009.2020635
Co-authorsJulio Braslavsky
2009Shorten 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]
DOI10.1109/TAC.2009.2031586
CitationsScopus - 23Web of Science - 19
2009Oyarzun 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]
DOI10.1007/s11538-009-9427-5Author URL
CitationsScopus - 17Web of Science - 18
2009Wiklendt 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]
DOI10.1007/s00521-008-0187-1
CitationsScopus - 5Web of Science - 1
Co-authorsStephan Chalup
2008Rojas 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]
DOI10.1049/iet-cta:20070246
CitationsScopus - 20Web of Science - 12
Co-authorsJulio Braslavsky
2008Rojas AJ, Braslavsky JH, Middleton RH, 'Fundamental limitations in control over a communication channel', Automatica, 44 3147-3151 (2008) [C1]
DOI10.1016/j.automatica.2008.05.014
CitationsScopus - 42Web of Science - 26
Co-authorsJulio Braslavsky
2008Chen 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]
DOI10.1109/TAC.2008.2006924Author URL
CitationsScopus - 11Web of Science - 4
2008Miller 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]
DOI10.1109/TAC.2008.2008781
CitationsScopus - 5Web of Science - 3
2007Kellett CM, Middleton RH, Shorten RN, 'On AIMD congestion control in multiple bottleneck networks', IEEE Communications Letters, 11 631-633 (2007) [C1]
DOI10.1109/lcomm.2007.070250
CitationsScopus - 2Web of Science - 1
Co-authorsChris Kellett
2007Mitchell 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)
DOI10.1109/EEIC.2007.4562603Author URL
CitationsScopus - 1Web of Science - 1
Co-authorsJames Welsh, Steve Mitchell
2007Middleton RH, Miller DE, 'On the achievable delay margin using LTI control for unstable plants', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 52 1194-1207 (2007) [C1]
DOI10.1109/TAC.2007.900824Author URL
CitationsWeb of Science - 26
2007Braslavsky JH, Middleton RH, Freudenberg JS, 'Feedback stabilization over signal-to-noise ratio constrained channels', IEEE Transactions on Automatic Control, 52 1391-1403 (2007) [C1]
DOI10.1109/tac.2007.902739
CitationsScopus - 190Web of Science - 144
Co-authorsJulio Braslavsky
2006Goodwin 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]
DOI10.1016/j.automatica.2006.01.016
CitationsScopus - 20Web of Science - 10
Co-authorsGraham Goodwin, Maria Seron
2005Woodhouse 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]
DOI10.1109/TPWRD.2004.838642
CitationsScopus - 6Web of Science - 2
2005Saha 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.

2005Braslavsky 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.

CitationsScopus - 5
Co-authorsJulio Braslavsky
2005Lennartson 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.

CitationsScopus - 1
2004Middleton RH, Chen J, Freudenberg JS, 'Tracking sensitivity and achievable Hinfinity performance in preview control', Automatica, 40 1297-1306 (2004) [C1]
DOI10.1016/j.automatica.2004.02.019
CitationsScopus - 13Web of Science - 11
2004Lennartson 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.

DOI10.1109/CDC.2004.1429456
CitationsScopus - 17
2004Lennartson 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.

CitationsScopus - 3
2004Middleton 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]
DOI10.1007/b98623
CitationsWeb of Science - 1
Co-authorsStephan Chalup
2004Chalup 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-authorsStephan Chalup
2004Syaichu-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.

CitationsScopus - 14
2004Middleton 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.

CitationsScopus - 1
Co-authorsJulio Braslavsky
2004Syaichu-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.

2003Zhivoglyadov P, Middleton RH, 'Stability and switching control design issue for a class of discrete time hybrid systems', Automatica, 39 981-987 (2003) [C1]
DOI10.1016/S0005-1098(02)00305-9
CitationsScopus - 4Web of Science - 3
2003Zhivoglyadov P, Middleton RH, 'Networked control design for linear systems', Automatica, 39 743-750 (2003) [C1]
DOI10.1016/S0005-1098(02)00306-0
CitationsScopus - 173Web of Science - 120
2003Chen J, Middleton RH, 'Guest editorial - New developments and applications in performance limitation of feedback control', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 48 1297-1297 (2003)
DOI10.1109/TAC.2003.816221Author URL
CitationsScopus - 17Web of Science - 13
2003Freudenberg 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]
DOI10.1109/TAC.2003.815017
CitationsScopus - 42Web of Science - 35
2003Lau K, Middleton RH, Braslavsky JH, 'Undershoot and Settling Time Tradeoffs for Nonminimum Phase Systems', IEEE Transactions on Automatic Control, 48 1389-1393 (2003) [C1]
DOI10.1109/TAC.2003.815025
CitationsScopus - 25Web of Science - 15
Co-authorsJulio Braslavsky
2003Freudenberg 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)
Author URL
CitationsScopus - 5Web of Science - 2
2003Lau K, Middleton RH, 'Switched integrator control schemes for integrating plants', EUROPEAN JOURNAL OF CONTROL, 9 539-559 (2003) [C1]
DOI10.3166/ejc.9.539-559Author URL
CitationsScopus - 2Web of Science - 2
2002Braslavsky 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]
2002Chen G, Chen J, Middleton RH, 'Optimal Tracking Performance for SIMO Systems', IEEE Transactions on Automatic Control, 47 1770-1775 (2002) [C1]
CitationsWeb of Science - 18
2002Chen 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.

CitationsScopus - 2
2002Woodyatt 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]
DOI10.1002/rnc.671Author URL
CitationsScopus - 14Web of Science - 10
Co-authorsMaria Seron
2002Zhivoglyadov P, Middleton RH, 'Switching controller design via convex polyhedral Lyapunov functions', Automatica, 38 1439-1448 (2002) [C1]
CitationsScopus - 5Web of Science - 3
2002Freudenberg JS, Middleton RH, 'Scaling and redundancy for ill-conditioned two input, two output plants', Automatica, 38 499-505 (2002) [C1]
CitationsScopus - 2Web of Science - 2
2001Woodyatt AR, Freudenberg JS, Middleton RH, 'An integral constraint for single input two output feedback systems', Automatica, 37 1717-1726 (2001) [C1]
CitationsScopus - 8Web of Science - 4
2001Zhivoglyadov P, Middleton RH, Fu M, 'Further results on localization-based switching adaptive control', Automatica, 37 257-263 (2001) [C1]
CitationsWeb of Science - 8
Co-authorsMinyue Fu
2000Zhivoglyadov 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]
CitationsScopus - 56Web of Science - 31
Co-authorsMinyue Fu
2000De 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]
CitationsScopus - 2Web of Science - 1
Co-authorsGraham Goodwin, Jose Dedona
2000Bosgra 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)
Author URL
2000Ortiz 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]
CitationsScopus - 5Web of Science - 4
2000Woodhouse 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.

1999Goodwin 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]
CitationsScopus - 25Web of Science - 23
Co-authorsGraham Goodwin
1999Middleton RH, Graebe SF, 'Slow Stable Open-Loop Poles: to Cancel or Not to Cancel', Automatica, 35, No. 5 877-886 (1999) [C1]
CitationsScopus - 18Web of Science - 18
1999Freudenberg JS, Middleton RH, 'Properties of Single Input, Two Output Feedback Systems', International Journal of Control, 172, No. 16 1446-1465 (1999) [C1]
CitationsWeb of Science - 22
1999Braslavsky 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.

1998Braslavsky 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.

DOI10.1109/9.661076
CitationsScopus - 14
Co-authorsJulio Braslavsky
1998Braslavsky 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]
CitationsWeb of Science - 11
Co-authorsJulio Braslavsky
1997Freudenberg 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]
CitationsScopus - 19Web of Science - 17
Co-authorsJulio Braslavsky
1997Braslavsky 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]
CitationsScopus - 10Web of Science - 10
Co-authorsJulio Braslavsky
1996Braslavsky JH, Middleton RH, 'Global and semi-global stabilizability in certain cascade nonlinear systems', IEEE Transactions on Automatic Control, 41 876-881 (1996) [C1]
CitationsScopus - 14Web of Science - 15
Co-authorsJulio Braslavsky
1996Griffiths BJ, Middleton RH, Wilkie BA, 'Condition monitoring of the grinding process using light scattering', WEAR, 198 39-45 (1996)
DOI10.1016/0043-1648(95)06906-2Author URL
CitationsWeb of Science - 1
1995FEUER A, MIDDLETON R, 'CONDITIONING OF LMS ALGORITHMS WITH FAST SAMPLING', IEEE TRANSACTIONS ON SIGNAL PROCESSING, 43 1978-1981 (1995)
DOI10.1109/78.403356Author URL
CitationsWeb of Science - 10
1995BRASLAVSKY 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)
Author URL
CitationsScopus - 2Web of Science - 2
Co-authorsJulio Braslavsky
1995MIDDLETON R, FREUDENBERG J, 'NONPATHOLOGICAL SAMPLING FOR GENERALIZED SAMPLED-DATA HOLD FUNCTIONS', AUTOMATICA, 31 315-319 (1995)
DOI10.1016/0005-1098(94)00095-ZAuthor URL
CitationsScopus - 36Web of Science - 30
1995GOODWIN GC, MIDDLETON RH, 'PARAMETERIZATION OF LINEAR OBSERVERS AND ITS APPLICATION TO OBSERVER DESIGN - COMMENTS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 40 1147-1147 (1995)
DOI10.1109/9.388704Author URL
Co-authorsGraham Goodwin
1995FREUDENBERG JS, MIDDLETON RH, BRASLAVSKY JH, 'INHERENT DESIGN LIMITATIONS FOR LINEAR SAMPLED-DATA FEEDBACK-SYSTEMS', INTERNATIONAL JOURNAL OF CONTROL, 61 1387-1421 (1995)
DOI10.1080/00207179508921961Author URL
CitationsWeb of Science - 34
Co-authorsJulio Braslavsky
1995DOMANTI 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)
DOI10.1115/1.2804374Author URL
CitationsWeb of Science - 2
1994WANG YY, HILL DJ, MIDDLETON RH, GAO L, 'TRANSIENT STABILIZATION OF POWER-SYSTEMS WITH AN ADAPTIVE-CONTROL LAW', AUTOMATICA, 30 1409-1413 (1994)
DOI10.1016/0005-1098(94)90005-1Author URL
CitationsScopus - 39Web of Science - 36
1994GRIFFITHS BJ, MIDDLETON RH, WILKIE BA, 'LIGHT-SCATTERING FOR THE MEASUREMENT OF SURFACE FINISH - A REVIEW', INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH, 32 2683-2694 (1994)
DOI10.1080/00207549408957092Author URL
CitationsWeb of Science - 5
1994DOMANTI S, MCELWAIN DLS, MIDDLETON RH, 'MODEL OF COLD-ROLLING OF THIN METAL SHEETS BETWEEN NONPARALLEL ROLLS', APPLIED MATHEMATICAL MODELLING, 18 362-372 (1994)
DOI10.1016/0307-904X(94)90222-4Author URL
CitationsScopus - 1Web of Science - 1
1994BRASLAVSKY 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)
Author URL
CitationsScopus - 1Web of Science - 1
Co-authorsJulio Braslavsky
1994FREUDENBERG 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)
Author URL
CitationsScopus - 2Web of Science - 2
Co-authorsJulio Braslavsky
1993DOMANTI 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)
DOI10.1016/0020-7403(93)90028-SAuthor URL
CitationsScopus - 10Web of Science - 9
1993WANG 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)
DOI10.1109/59.260819Author URL
CitationsWeb of Science - 163
1992GOODWIN GC, MIDDLETON RH, POOR HV, 'HIGH-SPEED DIGITAL SIGNAL-PROCESSING AND CONTROL', PROCEEDINGS OF THE IEEE, 80 240-259 (1992)
DOI10.1109/5.123294Author URL
CitationsWeb of Science - 120
Co-authorsGraham Goodwin
1992SONG 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)
DOI10.1109/9.256391Author URL
CitationsWeb of Science - 11
1992MIDDLETON RH, KOKOTOVIC PV, 'BOUNDEDNESS PROPERTIES OF SIMPLE, INDIRECT ADAPTIVE-CONTROL SYSTEMS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 37 1989-1994 (1992)
DOI10.1109/9.182489Author URL
CitationsWeb of Science - 13
1992Middleton 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.

1992Song 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.

DOI10.1016/0921-8890(92)90043-X
CitationsScopus - 2
1991MIDDLETON RH, 'TRADE-OFFS IN LINEAR-CONTROL SYSTEM-DESIGN', AUTOMATICA, 27 281-292 (1991)
DOI10.1016/0005-1098(91)90077-FAuthor URL
CitationsScopus - 153Web of Science - 145
1991ZHANG CS, MIDDLETON RH, EVANS RJ, 'STABLE HYBRID ADAPTIVE-CONTROL', INTERNATIONAL JOURNAL OF CONTROL, 53 1377-1394 (1991)
DOI10.1080/00207179108953681Author URL
CitationsWeb of Science - 2
1991Middleton 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.

CitationsScopus - 1
1990MIDDLETON RH, 'ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS USING DISCRETE-TIME IDENTIFICATION', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 35 633-637 (1990)
DOI10.1109/9.53514Author URL
CitationsScopus - 4Web of Science - 5
1989MIDDLETON RH, GOODWIN GC, WANG Y, 'ON THE ROBUSTNESS OF ADAPTIVE CONTROLLERS USING RELATIVE DEADZONES', AUTOMATICA, 25 889-896 (1989)
DOI10.1016/0005-1098(89)90055-1Author URL
CitationsScopus - 4Web of Science - 4
Co-authorsGraham Goodwin
1989ZHANG CS, MIDDLETON RH, EVANS RJ, 'AN ALGORITHM FOR MULTIRATE SAMPLING ADAPTIVE-CONTROL', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 34 792-795 (1989)
DOI10.1109/9.29418Author URL
CitationsScopus - 22Web of Science - 20
1989GOODWIN GC, MIDDLETON RH, 'THE CLASS OF ALL STABLE UNBIASED STATE ESTIMATORS', SYSTEMS & CONTROL LETTERS, 13 161-163 (1989)
DOI10.1016/0167-6911(89)90033-9Author URL
CitationsScopus - 35Web of Science - 33
Co-authorsGraham Goodwin
1989MIDDLETON 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)
DOI10.1177/027836498900800506Author URL
CitationsScopus - 62Web of Science - 56
Co-authorsGraham Goodwin
1989Goodwin 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-authorsGraham Goodwin
1988MIDDLETON RH, GOODWIN GC, HILL DJ, MAYNE DQ, 'DESIGN ISSUES IN ADAPTIVE-CONTROL', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 33 50-58 (1988)
DOI10.1109/9.360Author URL
CitationsScopus - 256Web of Science - 298
Co-authorsGraham Goodwin
1988MIDDLETON RH, GOODWIN GC, 'ADAPTIVE-CONTROL OF TIME-VARYING LINEAR-SYSTEMS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 33 150-155 (1988)
DOI10.1109/9.382Author URL
CitationsScopus - 111Web of Science - 116
Co-authorsGraham Goodwin
1988SALGADO ME, GOODWIN GC, MIDDLETON RH, 'MODIFIED LEAST-SQUARES ALGORITHM INCORPORATING EXPONENTIAL RESETTING AND FORGETTING', INTERNATIONAL JOURNAL OF CONTROL, 47 477-491 (1988)
DOI10.1080/00207178808906026Author URL
CitationsScopus - 94Web of Science - 87
Co-authorsGraham Goodwin
1988SALGADO 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)
Author URL
CitationsScopus - 38Web of Science - 43
Co-authorsGraham Goodwin
1988MIDDLETON RH, GOODWIN GC, 'ADAPTIVE COMPUTED TORQUE CONTROL FOR RIGID LINK MANIPULATIONS', SYSTEMS & CONTROL LETTERS, 10 9-16 (1988)
DOI10.1016/0167-6911(88)90033-3Author URL
CitationsScopus - 152Web of Science - 157
Co-authorsGraham Goodwin
1987MIDDLETON RH, 'INDIRECT CONTINUOUS-TIME ADAPTIVE-CONTROL', AUTOMATICA, 23 793-795 (1987)
DOI10.1016/0005-1098(87)90041-0Author URL
CitationsScopus - 1Web of Science - 3
1987MIDDLETON RH, 'ADAPTIVE CONTROLLER DESIGNS FOR ROBOT MANIPULATOR SYSTEMS USING LYAPUNOV DIRECT METHOD - COMMENT', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 32 749-749 (1987)
DOI10.1109/TAC.1987.1104692Author URL
1987Middleton 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.

1987WITTENMARK B, MIDDLETON RH, GOODWIN GC, 'ADAPTIVE DECOUPLING OF MULTIVARIABLE SYSTEMS', INTERNATIONAL JOURNAL OF CONTROL, 46 1993-2009 (1987)
DOI10.1080/00207178708934029Author URL
CitationsWeb of Science - 34
Co-authorsGraham Goodwin
1986GOODWIN GC, LEAL RL, MAYNE DQ, MIDDLETON RH, 'RAPPROCHEMENT BETWEEN CONTINUOUS AND DISCRETE MODEL-REFERENCE ADAPTIVE-CONTROL', AUTOMATICA, 22 199-207 (1986)
DOI10.1016/0005-1098(86)90081-6Author URL
CitationsScopus - 123Web of Science - 133
Co-authorsGraham Goodwin
1986MIDDLETON RH, GOODWIN GC, 'IMPROVED FINITE WORD-LENGTH CHARACTERISTICS IN DIGITAL-CONTROL USING DELTA-OPERATORS', IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 31 1015-1021 (1986)
DOI10.1109/TAC.1986.1104162Author URL
CitationsScopus - 183Web of Science - 162
Co-authorsGraham Goodwin
1986MIDDLETON RH, CANTONI A, 'ELECTROMAGNETIC DAMPING FOR STEPPER MOTORS WITH CHOPPER DRIVES', IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 33 241-246 (1986)
DOI10.1109/TIE.1986.350229Author URL
CitationsWeb of Science - 2
Show 134 more journal articles

Conference (138 outputs)

YearCitationAltmetricsLink
2015Xie 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.

2015Woodyatt 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.

2015Zhivoglyadov 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.

2014Knorn 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]
DOI10.3182/20140824-6-ZA-1003.00741
Co-authorsJuan Aguero, Alejandro Donaire
2014Knorn 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.

DOI10.1109/CCA.2014.6981557
2014Chesi 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]
DOI10.1109/ACC.2014.6858695
2014Shu 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.

DOI10.1109/ECC.2014.6862284
2014Peters AA, Mason O, Middleton RH, 'Cyclic interconnection in 1-D vehicle formation control', 2014 European Control Conference, ECC 2014, Strasbourg (2014) [E1]
DOI10.1109/ECC.2014.6862586
2014Cea 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-authorsGraham Goodwin, Kaushik Mahata
2014Chesi 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]
DOI10.3182/20140824-6-ZA-1003.00974
CitationsScopus - 1
2014Lennartson 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]
2014Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014)
2014Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014)
2014Freudenberg JS, Middleton RH, 'Multiple Access Gaussian Channels with Feedback', Proceedings of the IEEE Conference on Decision and Control, Los Angeles (2014) [E1]
DOI10.1109/CDC.2014.7039884
2014Blanchini 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.

2013Knorn S, Donaire A, Aguero JC, Middleton RH, 'Energy-based control of bidirectional vehicle strings', 2013 3rd Australian Control Conference (AUCC), Perth, Australia (2013) [E1]
DOI10.1109/AUCC.2013.6697281
CitationsScopus - 1Web of Science - 1
Co-authorsJuan Aguero, Alejandro Donaire
2013Haimovich 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]
DOI10.1109/CDC.2013.6760836
2013Knorn 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]
DOI10.1109/CDC.2013.6760814
2013Stuedli 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]
CitationsScopus - 2
Co-authorsJulio Braslavsky
2013Liu 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.

DOI10.1109/APPEEC.2013.6837241
2013Stuedli 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]
DOI10.1109/AUPEC.2013.6725362
Co-authorsJamil Khan
2013Knorn 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]
2013Freudenberg JS, Middleton RH, 'Transient response of minimum variance control over a Gaussian communication channel', 2013 European Control Conference, ECC 2013, Zurich, Switzerland (2013) [E1]
2013Chesi 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]
CitationsScopus - 1
2013Freudenberg 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]
DOI10.1109/CDC.2013.6761035
CitationsScopus - 1
2012Studli 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]
2012Knorn S, Middleton RH, 'Two-dimensional frequency domain analysis of string stability', 2012 Australian Control Conference, Melbourne, Vic (2012) [E1]
2012Whelan 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]
DOI10.1007/978-3-642-34781-8_2
2012Goodwin 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]
CitationsScopus - 1
Co-authorsMaria Seron, Graham Goodwin
2012Knorn 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]
2012Lennartson 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]
2012Lopez-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]
CitationsScopus - 2Web of Science - 2
2012Lopez-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]
Author URL
2012Garcia 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]
Author URL
2012Francis 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]
Author URL
CitationsWeb of Science - 1
2012Hernandez-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]
CitationsScopus - 1
2011Shu 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]
Author URL
CitationsWeb of Science - 3
2011Peters 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]
DOI10.1109/ICCA.2011.6138068
CitationsScopus - 3
2011García 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]
DOI10.1109/CDC.2011.6160710
CitationsScopus - 2Web of Science - 1
2011Yu 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]
DOI10.1109/CDC.2011.6161385
CitationsScopus - 2Web of Science - 2
2011Oyarzun DA, Middleton RH, 'Optimal adaptation of metabolic networks in dynamic equilibrium', 2011 AMERICAN CONTROL CONFERENCE, San Fransisco, CA (2011) [E1]
Author URL
2010Quinlan 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]
DOI10.1007/978-3-642-11876-0_24
CitationsScopus - 9Web of Science - 5
2010Hernandez-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]
DOI10.1109/CDC.2010.5717251Author URL
CitationsWeb of Science - 2
2010Chesi 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]
Author URL
CitationsWeb of Science - 8
2010Zappavigna A, Colaneri P, Geromel JC, Middleton R, 'Stabilization of Continuous-Time Switched Linear Positive Systems', 2010 AMERICAN CONTROL CONFERENCE, Baltimore, MD (2010) [E2]
Author URL
CitationsWeb of Science - 20
2010Francis F, Garcia MR, Wellstead P, Middleton R, 'An Ill-Fated Substantia Nigra Through the Systems Looking Glass: An Energetic Overview', MOVEMENT DISORDERS (2010) [E3]
Author URL
2010Boerlage M, Middleton R, Steinbuch M, Jager BD, 'Rejection of fixed direction disturbances in multivariable electromechanical motion systems', Mechatronics, Seoul, SOUTH KOREA (2010) [E1]
DOI10.1016/j.mechatronics.2009.06.015
CitationsScopus - 1Web of Science - 1
2009Shorten 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]
DOI10.1109/ACC.2009.5160413Author URL
CitationsWeb of Science - 4
2009Ferreira 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]
DOI10.1109/CDC.2009.5400800
2009Klinge 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]
DOI10.1109/CDC.2009.5399965
CitationsScopus - 9Web of Science - 7
2009Freudenberg 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]
DOI10.1109/ACC.2009.5160645
CitationsScopus - 2Web of Science - 1
2009Medioli 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-authorsMaria Seron
2009Medioli 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-authorsMaria Seron
2009Medioli 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-authorsMaria Seron
2008Henderson 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-authorsStephan Chalup
2008Freudenberg JS, Middleton RH, 'Feedback control performance over a noisy communication channel', 2008 IEEE Information Theory Workshop, ITW, Porto, PORTUGAL (2008) [E1]
DOI10.1109/ITW.2008.4578657
CitationsScopus - 5Web of Science - 4
2008Henderson 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]
DOI10.1007/978-3-540-68847-1_23
CitationsScopus - 3
Co-authorsRobert King
2008Rojas 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]
DOI10.1109/acc.2008.4586969
CitationsScopus - 7Web of Science - 2
Co-authorsJulio Braslavsky
2008Freudenberg JS, Middleton RH, Braslavsky JH, 'Minimum variance control over a Gaussian communication channel', Proceedings of the American Control Conference 2008, Seattle, Washington (2008) [E1]
DOI10.1109/acc.2008.4586888
CitationsScopus - 7Web of Science - 6
Co-authorsJulio Braslavsky
2007Mitchell 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]
DOI10.1109/EEIC.2007.4562603
Co-authorsJames Welsh, Steve Mitchell
2007Braslavsky JH, Rojas AJ, Middleton RH, 'Feedback control over signal to noise ratio constrained communication channels', CT07 Abstracts, San Francisco, CA (2007) [E3]
Co-authorsJulio Braslavsky
2007Rojas 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]
DOI10.1109/acc.2007.4282601
CitationsScopus - 4
Co-authorsJulio Braslavsky
2007Rojas 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)
Author URL
Co-authorsJulio Braslavsky
2007Freudenberg 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)
Author URL
Co-authorsJulio Braslavsky
2007Mitchell 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-authorsJames Welsh, Steve Mitchell
2007Henderson 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-authorsRobert King
2007Nicklin SP, Fisher RD, Middleton RH, 'Rolling shutter image compensation', Lecture Notes in Computer Science, Bremen, Germany (2007) [E1]
DOI10.1007/978-3-540-74024-7
CitationsScopus - 7Web of Science - 4
2007Freudenberg 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]
DOI10.1109/cdc.2007.4434535
CitationsScopus - 15
Co-authorsJulio Braslavsky
2006Braslavsky 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-authorsJulio Braslavsky
2006Lennartson 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]
2006Miller 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]
2006Rojas 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]
CitationsScopus - 6Web of Science - 4
Co-authorsJulio Braslavsky
2006Middleton 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]
CitationsWeb of Science - 1
Co-authorsChris Kellett
2006Rojas 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]
CitationsScopus - 20Web of Science - 4
Co-authorsJulio Braslavsky
2006Freudenberg 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]
CitationsScopus - 20Web of Science - 2
2006Peterson 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]
CitationsScopus - 4
2006Chalup 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-authorsStephan Chalup, Michael Dickinson
2005Rojas AJ, Middleton RH, 'Phase analysis for 2-D weakly coupled oscillatory systems', Proceedings of the 2005 American Control Conference, Portland, Oregon (2005) [E1]
2005Medioli 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-authorsMaria Seron
2005Freudenberg 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]
CitationsScopus - 8Web of Science - 1
Co-authorsJulio Braslavsky
2005Rojas 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]
DOI10.1109/CDC.2005.1582154
CitationsScopus - 13Web of Science - 5
Co-authorsJulio Braslavsky
2005Mirzaeva 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-authorsColin Coates
2005Seysener 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]
CitationsWeb of Science - 2
2004Syaichu-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)
DOI10.1109/CDC.2004.1429295Author URL
2004Rohman AS, Middleton RH, 'Anti-windup schemes for discrete time systems: an lmi-based design', CD ROM, Melbourne (2004) [E1]
2004Rohman AS, Middleton RH, 'An explicit static anti windup design for a class of two input two output plants', CD ROM, Melbourne (2004) [E1]
2004Middleton RH, Braslavsky JH, Freudenberg J, 'Stabization of non-minimum phase plants over signal-to-noise ratio constrained channels', CD ROM, Melbourne (2004) [E1]
Co-authorsJulio Braslavsky
2004Braslavsky JH, Middleton RH, Freudenberg JS, 'Feedback stabilization over signal-to-noise ratio constrained channels', CD ROM, Boston (2004) [E1]
CitationsScopus - 34Web of Science - 17
Co-authorsJulio Braslavsky
2004Middleton RH, Griffiths MN, McNeill LK, 'An application of the extended kalman filter to robot soccer localisation and world modelling', CD ROM, Sydney (2004) [E1]
2003Lau K, Middleton RH, 'Switched Integrator Control Schemes for Integrating Plants', Proceedings for ECC 2003, Cambridge, England (2003) [E1]
2003Rohman 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-authorsMaria Seron
2003Xu 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)
Author URL
CitationsScopus - 14Web of Science - 2
2003Xu 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-authorsSteve Mitchell
2003Middleton 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]
CitationsScopus - 4
Co-authorsJulio Braslavsky
2003Quinlan MJ, Chalup SK, Middleton RH, 'Techniques for Improving Vision and Locomotion on the Sony AIBO Robot', Proceedings for 2003 ARAA, Brisbane (2003) [E1]
Co-authorsStephan Chalup
2003Quinlan 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]
CitationsScopus - 8Web of Science - 5
Co-authorsStephan Chalup
2002Middleton 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]
Author URL
Co-authorsJulio Braslavsky
2002Xu 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)
Author URL
CitationsScopus - 4
2002Freudenberg J, Middleton RH, 'Robustness of Decoupling with Almost Redundant Inputs', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002Marcopoli V, Freudenberg J, Middleton RH, 'Nonminimum Phase Zeros in the General Feedback Configuration', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002Middleton RH, Braslavsky JH, 'Towards Quantitative Time Domain Design Tradeoffs in Nonlinear Control', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]
2002Chen 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]
2002Syaichu-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]
CitationsScopus - 12Web of Science - 6
2001Middleton 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]
CitationsScopus - 7Web of Science - 2
2001Middleton 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]
2001Chen 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]
CitationsScopus - 27Web of Science - 1
2001Zhivoglyadov 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]
2000Middleton RH, Braslavsky JH, 'On the relationship between logarithmic sensitivity integrals and limiting optimal control problems', CDC Downunder, Sydney, Australia (2000) [E1]
CitationsScopus - 11Web of Science - 7
Co-authorsJulio Braslavsky
2000Lau K, Middleton RH, 'On the use of switching control for systems with bounded disturbances', CDC Downunder, Sydney, Australia (2000) [E1]
CitationsScopus - 3
2000Cornforth DJ, Middleton RH, Tusek J, 'Visualisation of electrical transients using the wavelet transform', Proceedings of ISTA'2000, Canberra, Australia (2000) [E2]
Co-authorsDavid Cornforth
2000Freudenberg J, Middleton RH, Stefanopoulou A, 'A Survey of Inherent Design Limitations', Proceedings of the American Control Conference, Chicago, Illinois, USA (2000) [E1]
2000Middleton 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]
1999Ward JK, Middleton RH, 'Sequential Approach to Control Systems Synthesis with Constraints', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1]
1999Zhivoglyadov 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]
CitationsScopus - 1
1999Braslavsky 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]
CitationsScopus - 10Web of Science - 7
Co-authorsJulio Braslavsky
1999Middleton 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]
CitationsScopus - 7
1999Braslavsky 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]
CitationsScopus - 1
Co-authorsJulio Braslavsky
1999Freudenberg J, Middleton RH, 'Feedback Systems with an Almost Rank Deficient Plant', Proceedings of the American Control Conference, San Diego, California, USA (1999) [E1]
1998Goodwin GC, Middleton RH, 'Advanced control applications in the steel industry', AUTOMATION IN THE STEEL INDUSTRY: CURRENT PRACTICE AND FUTURE DEVELOPMENTS, KYONGJOO, SOUTH KOREA (1998)
Author URL
Co-authorsGraham Goodwin
1998Freudenberg J, Middleton RH, 'Properties of Single Input, Two Output Feedback Systems', Proceedings of the 1998 American Control Conference, Philadelphia, Pennsylvania (1998) [E1]
CitationsScopus - 5
1998Zhivoglyadov P, Middleton RH, 'On Stability in Hybrid Systems', Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, USA (1998) [E1]
CitationsScopus - 1Web of Science - 3
1998Woodyatt 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]
CitationsScopus - 3Web of Science - 4
Co-authorsMaria Seron
1998Weller 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]
CitationsScopus - 2Web of Science - 2
Co-authorsSteven Weller
1997De 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)
Author URL
Co-authorsJose Dedona, Graham Goodwin
1997Zhivoglyadov 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)
Author URL
CitationsScopus - 9Web of Science - 6
Co-authorsMinyue Fu
1995MIDDLETON 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)
Author URL
CitationsWeb of Science - 1
1995Braslavsky 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)
Author URL
Co-authorsJulio Braslavsky
1994BRASLAVSKY JH, MIDDLETON RH, 'ON THE STABILISATION OF LINEAR UNSTABLE SYSTEMS WITH CONTROL CONSTRAINTS', AUTOMATIC CONTROL - WORLD CONGRESS 1993, VOL 2, SYDNEY, AUSTRALIA (1994)
Author URL
Co-authorsJulio Braslavsky
1993BETZ RE, LAGERQUIST R, MILLER TJE, MIDDLETON RH, 'CONTROL OF SYNCHRONOUS RELUCTANCE MACHINES', IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, DEARBORN, MI (1993)
DOI10.1109/28.259721Author URL
CitationsScopus - 77Web of Science - 60
Co-authorsRobert Betz
1992WANG 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)
Author URL
CitationsWeb of Science - 48
1991WANG 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)
Author URL
1991SONG 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)
Author URL
1988Middleton 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.

CitationsScopus - 6
1988Middleton RH, 'Frequency domain adaptive control', National Conference Publication - Institution of Engineers, Australia (1988)
1988Goodwin 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.

CitationsScopus - 3
Co-authorsGraham Goodwin
1986Middleton 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.

1986Goodwin 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.

CitationsScopus - 2
Co-authorsGraham Goodwin
1986Middleton 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.

CitationsScopus - 20
Co-authorsGraham Goodwin
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Grants and Funding

Summary

Number of grants35
Total funding$13,317,713

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


20151 grants / $295,900

Sensitivity Analysis of Networked Feedback Systems$295,900

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor Rick Middleton
SchemeDiscovery Projects
RoleLead
Funding Start2015
Funding Finish2015
GNoG1400129
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

20145 grants / $2,290,872

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor 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
SchemeIndustrial Transformation Training Centres
RoleLead
Funding Start2014
Funding Finish2014
GNoG1301004
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: Coca Cola Amatil (Australia)

Funding bodyCoca Cola Amatil (Australia)
Project TeamProfessor 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
SchemeARC IC Partner Funding
RoleLead
Funding Start2014
Funding Finish2014
GNoG1301129
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: Sanitarium Health and Wellbeing Company

Funding bodySanitarium Health and Wellbeing Company
Project TeamProfessor 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
SchemeARC IC Partner Funding
RoleLead
Funding Start2014
Funding Finish2014
GNoG1301130
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: Sunrice

Funding bodySunrice
Project TeamProfessor 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
SchemeARC IC Partner Funding
RoleLead
Funding Start2014
Funding Finish2014
GNoG1301131
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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 bodyCSIRO - Commonwealth Scientific and Industrial Research Organisation
Project TeamProfessor Rick Middleton, Dr John Ward
SchemePostgraduate Scholarship
RoleLead
Funding Start2014
Funding Finish2014
GNoG1500169
Type Of FundingOther Public Sector - State
Category2OPS
UONY

20131 grants / $330,000

Dynamics & Feedback in Networked Biological Systems$330,000

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor Rick Middleton, Associate Professor Zhiyong Chen, Professor Patrizio Colaneri
SchemeDiscovery Projects
RoleLead
Funding Start2013
Funding Finish2013
GNoG1200202
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

20123 grants / $543,000

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamEmeritus Laureate Professor Graham Goodwin, Professor Rick Middleton, Doctor Juan Carlos Aguero, Associate Professor Kaushik Mahata, Dr Robert Karlsson, Mr Jawad Manssour, Dr Torbjorn Wigren
SchemeLinkage Projects
RoleInvestigator
Funding Start2012
Funding Finish2012
GNoG1101043
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: Ericsson AB

Funding bodyEricsson AB
Project TeamEmeritus Laureate Professor Graham Goodwin, Professor Rick Middleton, Doctor Juan Carlos Aguero, Associate Professor Kaushik Mahata, Dr Robert Karlsson, Mr Jawad Manssour, Dr Torbjorn Wigren
SchemeLinkage Projects Partner funding
RoleInvestigator
Funding Start2012
Funding Finish2012
GNoG1200170
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: CSIRO - Energy Technology

Funding bodyCSIRO - Energy Technology
Project TeamProfessor Rick Middleton, Associate Professor Christopher Kellett, Ms Sonja Stuedli
SchemePostgraduate Research Scholarship
RoleLead
Funding Start2012
Funding Finish2012
GNoG1200823
Type Of FundingOther Public Sector - Commonwealth
Category2OPC
UONY

20062 grants / $540,000

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor 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
SchemeLinkage Infrastructure Equipment & Facilities (LIEF)
RoleInvestigator
Funding Start2006
Funding Finish2006
GNoG0185548
Type Of FundingScheme excluded from IGS
CategoryEXCL
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamAssociate Professor Stephan Chalup, Dr Michael Quinlan, Doctor Robert King, Professor Rick Middleton
SchemeNear Miss Grant
RoleInvestigator
Funding Start2006
Funding Finish2006
GNoG0186068
Type Of FundingInternal
CategoryINTE
UONY

20052 grants / $105,000

2005 RIBG allocation$75,000

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
SchemeResearch Infrastructure Block Grant (RIBG)
RoleLead
Funding Start2005
Funding Finish2005
GNoG0185781
Type Of FundingInternal
CategoryINTE
UONY

2005 RIBG allocation$30,000

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
SchemeResearch Infrastructure Block Grant (RIBG)
RoleLead
Funding Start2005
Funding Finish2005
GNoG0185782
Type Of FundingInternal
CategoryINTE
UONY

20042 grants / $289,319

Next Generation Model Based Control Tools$250,000

Funding body: Matrikon Pty Ltd

Funding bodyMatrikon Pty Ltd
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin, Doctor Gregory Adams
SchemeCentres of Excellence (Partner)
RoleLead
Funding Start2004
Funding Finish2004
GNoG0185845
Type Of FundingContract - Aust Non Government
Category3AFC
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamAssociate Professor Stephan Chalup, Professor Rick Middleton
SchemeMulti-Year Project Grant Scholarship
RoleInvestigator
Funding Start2004
Funding Finish2004
GNoG0183487
Type Of FundingInternal
CategoryINTE
UONY

20034 grants / $7,875,018

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor 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
SchemeARC Centres of Excellence
RoleLead
Funding Start2003
Funding Finish2003
GNoG0182216
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

Centre for Complex Dynamic Systems and Control$445,586

Funding body: NSW Department of State and Regional Development

Funding bodyNSW Department of State and Regional Development
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
SchemeCentres of Excellence (Partner)
RoleLead
Funding Start2003
Funding Finish2003
GNoG0185594
Type Of FundingOther Public Sector - State
Category2OPS
UONY

Integrated Mine Planning (IMP)$250,000

Funding body: BHP Billiton Innovation Pty Ltd

Funding bodyBHP Billiton Innovation Pty Ltd
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin
SchemeCentres of Excellence (Partner)
RoleLead
Funding Start2003
Funding Finish2003
GNoG0185847
Type Of FundingContract - Aust Non Government
Category3AFC
UONY

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

Funding body: BHP Billiton Innovation Pty Ltd

Funding bodyBHP Billiton Innovation Pty Ltd
Project TeamProfessor Rick Middleton, Emeritus Laureate Professor Graham Goodwin, Doctor Julio Braslavsky
SchemeCentres of Excellence (Partner)
RoleLead
Funding Start2003
Funding Finish2003
GNoG0185849
Type Of FundingContract - Aust Non Government
Category3AFC
UONY

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 bodyUniversity of Newcastle
Project TeamAssociate Professor Mary-Anne Williams, Conjoint Professor Kerrie Mengersen, Professor Rick Middleton
SchemeVisitor Grant
RoleInvestigator
Funding Start2002
Funding Finish2002
GNoG0182222
Type Of FundingInternal
CategoryINTE
UONY

20012 grants / $199,113

Instantaneous Power Control of AC Machines$169,113

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor Robert Betz, Professor Rick Middleton, Dr Brian Cook
SchemeLarge Grant
RoleInvestigator
Funding Start2001
Funding Finish2001
GNoG0179249
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: Defence Science and Technology Organisation

Funding bodyDefence Science and Technology Organisation
Project TeamProfessor Rick Middleton
SchemeConsultancy
RoleLead
Funding Start2001
Funding Finish2001
GNoG0180746
Type Of FundingOther Public Sector - Commonwealth
Category2OPC
UONY

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 bodyPacific Power International
Project TeamProfessor Rick Middleton, Mr B Finlay, Doctor Liuping Wang
SchemeSPIRT Partner funding
RoleLead
Funding Start2000
Funding Finish2000
GNoG0180162
Type Of FundingContract - Aust Non Government
Category3AFC
UONY

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor Rick Middleton
SchemeStrategic Partnerships with Industry - Research & Training Scheme (SPIRT)
RoleLead
Funding Start2000
Funding Finish2000
GNoG0178640
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Reza Moheimani, Professor Rick Middleton
SchemeMulti-Year Project Grant Scholarship
RoleInvestigator
Funding Start2000
Funding Finish2000
GNoG0178814
Type Of FundingInternal
CategoryINTE
UONY

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 bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton
SchemeProject Grant
RoleLead
Funding Start1999
Funding Finish1999
GNoG0178080
Type Of FundingInternal
CategoryINTE
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton
SchemeTravel Grant
RoleLead
Funding Start1999
Funding Finish1999
GNoG0180456
Type Of FundingInternal
CategoryINTE
UONY

19961 grants / $11,500

Robust adaptive switching controllers$11,500

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamProfessor Rick Middleton, Professor Minyue Fu
SchemeSmall Grant
RoleLead
Funding Start1996
Funding Finish1996
GNoG0175682
Type Of FundingScheme excluded from IGS
CategoryEXCL
UONY

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 bodyARC (Australian Research Council)
Project TeamProfessor Rick Middleton
SchemeLarge Grant
RoleLead
Funding Start1995
Funding Finish1995
GNoG0174487
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

Electrical & Computer Engineering$78,000

Funding body: Department of Education, Training & Youth Affairs

Funding bodyDepartment of Education, Training & Youth Affairs
Project TeamProfessor Rick Middleton
SchemeResearch Infrastructure Block Grant (RIBG)
RoleLead
Funding Start1995
Funding Finish1995
GNoG0175579
Type Of FundingScheme excluded from IGS
CategoryEXCL
UONY

19941 grants / $2,362

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton
SchemeTravel Grant
RoleLead
Funding Start1994
Funding Finish1994
GNoG0175102
Type Of FundingInternal
CategoryINTE
UONY

19933 grants / $109,025

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

Funding body: ARC (Australian Research Council)

Funding bodyARC (Australian Research Council)
Project TeamAssoc. Prof Carlos De Souza, Professor Minyue Fu, Professor Rick Middleton
SchemeLarge Grant
RoleInvestigator
Funding Start1993
Funding Finish1993
GNoG0173046
Type Of FundingAust Competitive - Commonwealth
Category1CS
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton
SchemeProject Grant
RoleLead
Funding Start1993
Funding Finish1993
GNoG0172735
Type Of FundingInternal
CategoryINTE
UONY

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

Funding body: University of Newcastle

Funding bodyUniversity of Newcastle
Project TeamProfessor Rick Middleton, Dr Herbert Penfold
SchemeProject Grant
RoleLead
Funding Start1993
Funding Finish1993
GNoG0174765
Type Of FundingInternal
CategoryINTE
UONY
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Research Supervision

Current Supervision

CommencedResearch Title / Program / Supervisor Type
2014Nonlinear State Estimation and Control of Multiple UUV's in Close Proximity
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2014Applying 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
2013Ingot Chain Casting - Control Strategy Upgrade from Batch to Continuous
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2013Consensus of MAS with Nonlinear Dynamics and Network Constraints
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2013Fusing Infra-Red Horizon Sensors with INS to Create Fault Tolerant Redundancy on a UAV
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2012Development 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
2012Development 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
2012Distributed Load Management Supporting Power Injection and Reactive Power Balancing
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2010Dynamic Control of an Induction Heating Process to Reduce Energy Consumption
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor

Past Supervision

YearResearch Title / Program / Supervisor Type
2014Multiple Hypothesis Methods for Robot Self Localisation
Computer Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2008Modelling and Feedback Control of Copper Heap Bioleaching Processes
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2008Maximal Controllability via Reduced Complexity Model Predictive Control
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2007Feedback Control Over Signal to Noise Ratio Constrained Communication Channels
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2007Piezo-Electric Power Scavenging for Mining Applications
Computer Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2006Machine Learning on AIBO Robots
Computer Science, Faculty of Engineering and Built Environment
Co-Supervisor
2005Optimisation Based Feedback Control of Input Constrained Linear Systems
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2005Quantized Moving Horizon Optimization
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2004A frequency domain approach to constrained receding horizon control
Electrical Engineering, Faculty of Engineering and Built Environment
Co-Supervisor
2004An 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
2003Time Domain Feedback Performance Limitations - Extensions to Nonlinear, Switched, and Sampled Systems
Electrical Engineering, Faculty of Engineering and Built Environment
Principal Supervisor
2002Control 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

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

Office

RoomEAG03
BuildingEngineering A
LocationCallaghan
University Drive
Callaghan, NSW 2308
Australia
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