2021 
Uddin SMM, Mirzaeva G, Seron M, Goodwin G, 'The Use of Model Predictive Control in AC Drives for Mining Applications', 2020 IEEE Industry Applications Society Annual Meeting, Detroit, MI, USA (2021)



2020 
Miller D, Mirzaeva G, Goodwin G, 'Power Line Communication in Emergency Power Microgrid for Mining Industry', 2020 IEEE Industry Applications Society Annual Meeting, IAS 2020 (2020)
Emergency Power Microgrids are used in Mining operations to supply critical loads. A robust decentralised AC microgrid architecture has been recently proposed by the authors, that... [more]
Emergency Power Microgrids are used in Mining operations to supply critical loads. A robust decentralised AC microgrid architecture has been recently proposed by the authors, that provides an automatic and equitable load sharing between distributed generators. This paper focuses on Power Line Communication (PLC) within the decentralised AC microgrid, for added flexibility in case of realtime changes in the microgrid structure and/or distributed generation levels. The proposed PLC is based on using a single and constant PLC frequency. The paper details PLC injection, detection and suppression methods, as well as the overall communication logic. Findings of the paper are confirmed by simulations and experimental results.



2020 
Mirzaeva G, Seron M, Goodwin G, 'Matrix Converters with input resonance suppression for mobile mining vehicles', 2020 IEEE Industry Applications Society Annual Meeting, IAS 2020 (2020)
Matrix Converter is an attractive choice for motor drives with weight/size restrictions and high efficiency requirements, such as mobile mining vehicles. However, the use of Matri... [more]
Matrix Converter is an attractive choice for motor drives with weight/size restrictions and high efficiency requirements, such as mobile mining vehicles. However, the use of Matrix Converters requires addressing the problem with input resonance. Variable length of the trailing cables used with mining vehicles makes the existing solutions for input resonance suppression ineffective. This paper addresses this problem by proposing and analyzing two solutions for input resonance suppression in Matrix Converters: a solution based on the output spectrum shaping, and a solution based on a direct synthesis of the optimal switching matrix. The paper shows that both solutions achieve the goal, but have different implications for practical implementation. The results are supported by extensive simulations.



2020 
Seron M, Mirzaeva G, Goodwin G, 'Novel Control Scheme for Matrix Converters', IECON Proceedings (Industrial Electronics Conference) (2020)
Matrix Converters (MC) have prominent advantages in AC/AC power conversion applications, for example, in aerospace and surface transport. However, due to a tight interconnection b... [more]
Matrix Converters (MC) have prominent advantages in AC/AC power conversion applications, for example, in aerospace and surface transport. However, due to a tight interconnection between its input and output, it is difficult to achieve satisfactory performance on both sides, simultaneously. This paper proposes a novel, optimisation based, design approach for the modulation (duty cycle) matrix associated with the MC. Under this approach, the entries of the modulation matrix are used as decision variables in a quadratic optimisation programme. The optimisation combines control requirements both at the input and output sides of the converter in a nonconflicting manner. The paper includes simulation results, which demonstrate that the proposed solution complies with the objectives of both sides. Thus high quality tracking at the MC output is achieved simultaneously with input resonance suppression and power factor control at the MC input. An estimate of the computational load is provided which suggests that a realtime implementation is easily achievable.



2019 
Smith TA, Seron MM, Goodwin GC, Medioli AM, King BR, Smart CE, et al., 'The Use of Metabolic Digital Twins to Personalize Mealtime Insulin Dosing in Type 1 Diabetes Clinical Management', DIABETES, San Francisco, CA (2019)



2019 
Semenov D, Mirzaeva G, Goodwin GC, 'Battery integration in distributed droopless DC microgrid', 2019 29th Australasian Universities Power Engineering Conference, AUPEC 2019, Nadi, Fiji (2019) [E1]



2019 
Mirzaeva G, Goodwin G, Zanchetta P, Lillo LD, Empringham L, 'Advanced control of matrix converter drive with active damping of the input resonance', 2019 IEEE Energy Conversion Congress and Exposition, ECCE 2019, Baltimore, MD (2019) [E1]



2018 
Uddin M, Mirzaeva G, Goodwin G, Rivera M, 'Computationally Efficient Model Predictive Control of a FourLeg Inverter for Common Mode Voltage Elimination', 2018 IEEE Energy Conversion Congress and Exposition (ECCE), Portland, OR, USA (2018) [E1]



2018 
Goodwin GC, 'A Critique of Observers Used in the Context of Feedback Control', Intelligent Robotics and Applications, Newcastle, NSW (2018) [E1]



2018 
Uddin SMM, Mirzaeva G, Goodwin GC, Stepien P, Zanchetta P, Wheeler P, 'Common Mode Voltage Elimination in Industrial ACAC Converters Based on Model Predictive Control', 2018 IEEE Industry Applications Society Annual Meeting (IAS), Portland, OR, USA (2018) [E1]



2018 
Uddin SMM, Mirzaeva G, Goodwin G, Zanchetta P, 'Computationally Efficient Model Predictive Control for ACDCAC Converter with Common Mode Voltage Elimination', 2018 IEEE Energy Conversion Congress and Exposition (ECCE), Portland, OR, USA. (2018) [E1]



2018 
Semenov D, Mirzaeva G, Goodwin GC, 'Inverter Control and Implementation Options for a Novel AC Microgrid', 2018 INTERNATIONAL SYMPOSIUM ON POWER ELECTRONICS, ELECTRICAL DRIVES, AUTOMATION AND MOTION (SPEEDAM), Amalfi, ITALY (2018) [E1]



2018 
Kali Y, Rodas J, Ayala M, Saad M, Gregor R, Benjelloun K, et al., 'Discretetime sliding mode with time delay estimation of a sixphase induction motor drive', Proceedings: IECON 2018  44th Annual Conference of the IEEE Industrial Electronics Society, Washington, DC (2018) [E1]



2018 
Kalil Y, Rodas J, Saad M, Grezor R, Benielloun K, DovalGandov J, Goodwin G, 'Speed Control of a FivePhase Induction Motor Drive using Modified SuperTwisting Algorithm', SPEEDAM 2018  Proceedings: International Symposium on Power Electronics, Electrical Drives, Automation and Motion, Amalfi, Italy (2018) [E1]



2018 
Uddin SMM, Mirzaeva G, Goodwin G, 'Model Predictive Control of Direct Matrix Converter with Common Mode Voltage Elimination', 2018 IEEE 4th Southern Power Electronics Conference (SPEC), Singapore (2018) [E1]



2017 
Semenov D, Mirzaeva G, Townsend CD, Goodwin GC, 'An AC Microgrid Architecture and Control Strategy to Achieve Stability with Any Type of Load', 2017 IEEE SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), Puerto Varas, CHILE (2017)



2017 
Mirzaeva G, Townsend CD, Semenov D, Goodwin GC, 'Decentralised Control of Parallel Inverters in an AC Microgrid Using Downstream Current as an Implicit Communication Method', 2017 IEEE SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), Puerto Varas, CHILE (2017) 


2017 
Uddin M, Mirzaeva G, Goodwin G, 'Computationally Efficient Modified Model Predictive Control for 2LVSI with Common Mode Voltage Mitigation', 2017 IEEE SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), Puerto Varas, CHILE (2017)



2017 
Townsend CD, Mirzaeva G, Semenov D, Goodwin GC, 'Use of Harmonic Power Line Communication to Enhance a Decentralised Control Method of Parallel Inverters in an AC Microgrid', 2017 IEEE SOUTHERN POWER ELECTRONICS CONFERENCE (SPEC), Puerto Varas, CHILE (2017)



2017 
Mirzaeva G, Goodwin G, Townsend C, 'A Simple and Effective Strategy to Reduce Switching Losses under FSMPC based on Dynamically Changing Voronoi Diagrams', PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), Siem Reap, CAMBODIA (2017) [E1]



2017 
Townsend CD, Mirzaeva G, Goodwin GC, 'Capacitance Minimization in Modular Multilevel Converters: A Reliable and Computationally Efficient Algorithm to Identify Optimal Circulating Currents and ZeroSequence Voltages', 2017 IEEE 12TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS AND DRIVE SYSTEMS (PEDS), Honolulu, HI (2017) [E1]



2017 
Uddin S, Mirzaeva G, Goodwin G, Stepien P, 'A simplified model predictive control to eliminate common mode voltage of an AC motor fed by a neutral point clamped inverter', Sydney, Australia (2017) [E1]



2017 
Carrasco DS, Matthews AD, Goodwin GC, Delgado RA, Medioli AM, 'Design of MDIs for Type 1 Diabetes Treatment via Rolling Horizon CardinalityConstrained Optimisation', IFAC PAPERSONLINE, Toulouse, FRANCE (2017) [E1]



2017 
Townsend C, Seron MM, Goodwin GC, 'Characterisation of Optimal Responses to Pulse Inputs in the Bergman Minimal Model', IFAC PAPERSONLINE, Toulouse, FRANCE (2017) [E1]



2017 
Semenov D, Mirzaeva G, Townsend CD, Goodwin GC, 'Recent Development in AC Microgrid Control  a Survey', 2017 AUSTRALASIAN UNIVERSITIES POWER ENGINEERING CONFERENCE (AUPEC), Melbourne, AUSTRALIA (2017) [E1]



2017 
Semenov D, Mirzaeva G, Townsend CD, Goodwin GC, 'An AC microgrid architecture and control strategy to achieve stability with any type of load', 2017 IEEE Southern Power Electronics Conference (SPEC), Puerto Varas, Chile (2017) [E1]



2017 
Mirzaeva G, Townsend CD, Semenov D, Goodwin GC, 'Decentralised control of parallel inverters in an AC microgrid using downstream current as an implicit communication method', 2017 IEEE Southern Power Electronics Conference (SPEC), Puerto Varas, Chile (2017) [E1]



2017 
Townsend CD, Mirzaeva G, Semenov D, Goodwin GC, 'Use of harmonic power line communication to enhance a decentralised control method of parallel inverters in an AC microgrid', 2017 IEEE Southern Power Electronics Conference (SPEC), Puerto Varas, Chile (2017) [E1]



2017 
Uddin SMM, Mirzaeva G, Goodwin G, 'Computationally efficient modified model predictive control for 2LVSI with common mode voltage mitigation', Proceedings 2017 IEEE Southern Power Electronics Conference (SPEC), Puerto Varas, Chile (2017) [E1]



2017 
Uddin S, Mirzaeva G, Goodwin G, 'Recent advances in common mode voltage mitigation techniques based on MPC', 2017 Australasian Universities Power Engineering Conference (AUPEC), Melbourne, Australia (2017) [E1]



2017 
Semënov D, Mirzaeva G, Townsend CD, Goodwin GC, 'A battery storage control scheme for AC microgrids', 2017 20th International Conference on Electrical Machines and Systems, ICEMS 2017, Sydney, NSW (2017) [E1]



2016 
Mirzaeva G, Goodwin G, 'Current control with improved tracking and harmonic performance for a voltage source inverter driving a saturated induction motor', 2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2016, Capri, Italy (2016) [E1]



2016 
Phan HV, Carrasco DS, Goodwin GC, Medioli AM, King BR, Smart C, Stephen C, 'A performance limitation for blood glucose regulation in type 1 diabetes accounting for insulin delivery delays', 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (2016) [E1]
The usual recommendation made by clinicians to type 1 diabetics is that they should inject insulin when consuming a meal or, preferably, slightly earlier. However, in practice, in... [more]
The usual recommendation made by clinicians to type 1 diabetics is that they should inject insulin when consuming a meal or, preferably, slightly earlier. However, in practice, insulin injection maybe delayed. In this paper we develop a fundamental limit on performance when insulin is delivered at some time other than the preferred time. The paper develops an optimal injection policy which minimizes the maximum blood glucose response whilst ensuring that the minimum response does not fall below a prespecified level. The result provides a 'gold standard' against which other insulin injection policies can be compared. Implementation issues are also briefly described.



2016 
Townsend C, Mirzaeva G, Goodwin G, Konstantinou G, Pou J, 'Fractionallyrated DCDC stages for use in multilevel cascaded converter utilityscale battery energy storage systems', Auckland, NZ (2016)



2016 
Townsend C, Aguilera R, Acuna P, Konstantinou G, Pou J, Mirzaeva G, Goodwin G, 'Capacitance minimization in modular multilevel converters: Using model predictive control to inject optimal circulating currents and zerosequence voltage', 2nd IEEE Annual Southern Power Electronics Conference (SPEC), Auckland, NZ (2016) [E1]



2016 
Mirzaeva G, Townsend C, Goodwin GC, Farrell H, 'MPCbased continuous time optimized space vector modulation', 2016 IEEE 2nd Annual Southern Power Electronics Conference (SPEC), Auckland, NZ (2016) [E1]



2016 
Seron MM, Medioli AM, Goodwin GC, 'A methodology for the comparison of traditional MPC and stochastic MPC in the context of the regulation of blood glucose levels in Type 1 diabetics', 2016 Australian Control Conference, AuCC 2016, Newcastle, NSW (2016) [E1]



2016 
Mirzaeva G, Goodwin GC, Townsend C, 'Dealing with linear and nonlinear time delays under model predictive control of power electronic inverters', Proceedings of the 2016 IEEE International Conference on Automatica, Talca, Chile (2016) [E1]



2016 
Phan HV, Goodwin GC, Carrasco DS, Medioli AM, Stephen C, Feuer A, 'Individualization of stochastic models from population statistics for blood glucose regulation in Type 1 diabetes patients', 2016 Australian Control Conference, AuCC 2016, Newcastle, NSW (2016) [E1]



2016 
Goodwin GC, Medioli AM, Phan HV, King BR, Matthews AD, 'Application of MPC incorporating Stochastic Programming to Type 1 diabetes treatment', Proceedings of the American Control Conference (2016) [E1]
This paper describes the application of Model Predictive Control incorporating Stochastic Programming to the treatment of Type 1 diabetes. The use of stochastic programming in thi... [more]
This paper describes the application of Model Predictive Control incorporating Stochastic Programming to the treatment of Type 1 diabetes. The use of stochastic programming in this context is believed to be important since it addresses one of the key difficulties associated with diabetes treatment namely the inherent uncertainty associated with future food and exercise patterns. Preliminary results are presented, based on real patients, illustrating the advantages of using stochastic model predictive control for this application.



2015 
Delgado RA, Agüero JC, Goodwin GC, Mendes EMAM, 'Application of rankconstrained optimisation to nonlinear system identification', IFAC Proceedings Volumes (IFACPapersOnline) (2015) [E1]
Nonlinear System identification has a rich history spanning at least 5 decades. A very flexible approach to this problem depends upon the use of Volterra series expansions. Relate... [more]
Nonlinear System identification has a rich history spanning at least 5 decades. A very flexible approach to this problem depends upon the use of Volterra series expansions. Related work includes Hammerstein models, where a static nonlinearity is followed by a linear dynamical system, and Wiener models, where a static nonlinearity is inserted after a linear dynamical model. A problem with these methods is that they inherently depend upon series type expansions and hence it is difficult to know which terms should be included. In this paper we present a possible solution to this problem using recent results on rankconstrained optimization. Simulation results are included to illustrate the efficacy of the proposed strategy.



2015 
De Dona JA, Goodwin GC, Seron MM, 'Connections between model predictive control and antiwindup strategies for dealing with saturating actuators', European Control Conference, ECC 1999  Conference Proceedings (2015) [E1]
Model predictive control is a well established strategy for dealing with saturating actuator problems. The essential feature of the method is a receding horizon quadratic optimal ... [more]
Model predictive control is a well established strategy for dealing with saturating actuator problems. The essential feature of the method is a receding horizon quadratic optimal control problem which is solved subject to input constraints. On the other hand, antiwindup methods are adhoc procedures which achieve input saturation in an instantaneous fashion. Both methods are known to perform well in practice and each has its strong advocates. In this paper, we explore connections between the methods. In particular, we show that there are cases in which antiwindup schemes are identical to MPC schemes. In other cases, we show that antiwindup has performance which is close to that of MPC strategies.



2015 
Mirzaeva G, Goodwin GC, McGrath B, 'The Relationship between Classical and MPC Horizon 1 based Current Regulators', IECON 2015  41ST ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, Yokohama, JAPAN (2015) [E1]



2015 
Mirzaeva G, Goodwin GC, McGrath B, 'A new understanding and improvements of finite set model predictive control in inverter applications', 2015 17th European Conference on Power Electronics and Applications, EPEECCE Europe 2015 (2015) [E1]
This paper proposes a new interpretation of Finite Set Model Predictive Control (FSMPC) for inverters. This interpretation gives insights into the existing limitations of FSMPC ... [more]
This paper proposes a new interpretation of Finite Set Model Predictive Control (FSMPC) for inverters. This interpretation gives insights into the existing limitations of FSMPC and suggests mitigation strategies. Consequently, significant improvements of FSMPC performance are achieved, including elimination of steady state error, improved harmonic spectrum, reduced control delays, etc. The proposed new MPC interpretation also establishes relationships between various control schemes, including FSMPC and PWMMPC, FSMPC and MPC with integral action, etc. Additionally, the paper proposes further embellishments to FSMPC based on its more efficient and accurate implementation. The findings of the paper are supported by simulations and experimental results.



2015 
Mirzaeva G, Goodwin G, McGrath B, 'Optimal design of VSI current controllers based on MPC approach', IEEE International Symposium on Industrial Electronics (2015) [E1]
Model Predictive Control (MPC) has received significant attention from the power electronics research community. In this paper we apply MPC approach to designing optimal current r... [more]
Model Predictive Control (MPC) has received significant attention from the power electronics research community. In this paper we apply MPC approach to designing optimal current regulators for voltage source inverters (VSI), in the sense of tracking references and rejecting disturbances of interest. In particular, we present a detailed derivation of optimal current regulators for tracking references and rejecting disturbances of constant and harmonic types. We compare these to the existing control structures, such as proportional integral (PI) and proportional resonant (PR) current regulators. We further propose a strategy to improve their performance based on matching their structure and parameters to the optimal controllers. The findings of the paper are supported by PSIM simulations and preliminary experimental results.



2015 
Rodriguez JA, Romagnoli JA, Goodwin GC, 'Dynamic antiWindUp for MIMO systems', European Control Conference, ECC 1999  Conference Proceedings (2015)
This paper discusses the question of saturating actuators in a multiinput multioutput (MIMO) control system design. It is shown that direct application of standard antiwindup s... [more]
This paper discusses the question of saturating actuators in a multiinput multioutput (MIMO) control system design. It is shown that direct application of standard antiwindup schemes can lead to loss of closedloop stability, as well as, the degradation of the directional properties of the system. Consequently, a novel antiwindup scheme is proposed, where the intended procedure ensures stability, accompanied with exact dynamic decoupling in the presence of actuator saturation. In essence, this is accomplished by ensuring that all of the control signals are saturated to the correct value, eventhough if they do not saturate at all. Simulation results comparing the difference between the dynamic antiwindup methodology and a non antiwindup scheme are presented.



2015 
Mirzaeva G, Goodwin G, 'Achieving perfect tracking in presence of saturationplant model and model uncertainty in current regulators for voltage source inverters', IFAC Proceedings Volumes (IFACPapersOnline) (2015) [E1]
Model Predictive Control (MPC) has attracted significant attention from the power electronics community. In this body of work it is usual to utilize a linear load model. Also, to ... [more]
Model Predictive Control (MPC) has attracted significant attention from the power electronics community. In this body of work it is usual to utilize a linear load model. Also, to deal with computational complexity, it is common to deploy horizon 1 optimization. A major difficulty with these standard approaches is that modelling errors, e.g. those arising from nonlinear effects such as magnetic saturation, lead to poor tracking performance. In this paper we show that perfect tracking is achievable provided that MPC controller is augmented by a suitable observer.



2015 
Ljung L, Goodwin GC, Agüero JC, Chen T, 'Model Error Modeling and Stochastic Embedding', IFACPapersOnLine, Beijing, China (2015) [E1]



2015 
Goodwin GC, Carrasco DS, Medioli AM, King BR, Stephen C, 'Nonlinear insulin to carbohydrate rule for treatment of type 1 diabetes', IFAC Proceedings Volumes (IFACPapersOnline) (2015) [E1]
This paper develops a nonlinear insulin to carbohydrate rule for use by type 1diabetes patients. The goal is to refine the commonly used Insulin to Carbohydrate Ratio (ICR) formu... [more]
This paper develops a nonlinear insulin to carbohydrate rule for use by type 1diabetes patients. The goal is to refine the commonly used Insulin to Carbohydrate Ratio (ICR) formula. The latter is a strictly linear rule relating carbohydrates consumed to insulin infusion. The new relationship presented in this paper is nonlinear and depends on the availability of a nonlinear dynamic model describing a patient's blood glucose response to food and insulin. Such a model can be obtained by use of nonlinear system identification tools applied to patient test data. The suggested procedure is of similar complexity to the existing standard ICR rule. Hence it has the potential to be of clinical importance especially in developing countries where sophisticated solutions such as an artificial pancreas are unlikely to be used due to excessive cost. Simulations are presented which show that there exists a significant difference between the suggested insulin provided by the rule developed here and that given by the standard ICR rule.



2014 
Ljung L, Goodwin GC, Aguero JC, 'Stochastic Embedding revisited: A modern interpretation', Proceedings of the IEEE Conference on Decision and Control (2014) [E1]
© 2014 IEEE.There is a very extensive literature on various aspects of the central BiasVariance tradeoff in linear system identification. In the 80's and 90's the focu... [more]
© 2014 IEEE.There is a very extensive literature on various aspects of the central BiasVariance tradeoff in linear system identification. In the 80's and 90's the focus was on bias characterization, model error models and Stochastic Embedding. Recently, there has been a new interest in Bayesian or kernel methods. This paper puts part of this literature into perspective by giving a modern interpretation of the Stochastic Embedding approach.



2014 
Carrasco DS, Fu Y, Goodwin GC, King BR, Medioli AM, 'Performance limitations arising in closed loop control of blood glucose in type 1 diabetes', IFAC Proceedings Volumes (IFACPapersOnline) (2014) [E1]
This paper presents a preliminary study of performance limitations that arise in the closedloop control of blood glucose, using an autonomous artificial pancreas. It is shown tha... [more]
This paper presents a preliminary study of performance limitations that arise in the closedloop control of blood glucose, using an autonomous artificial pancreas. It is shown that a major source of limitations is due to model uncertainty, specifically due to the combined effect of the insulin infusion system (IIS), the continuous glucose monitor (CGM) and the human glucose regulatory system. It is argued that the uncertainty associated with each of these elements compromises the achievable closedloop bandwidth, and, in the presence of disturbances, e.g. meal intake and exercise, the closedloop response will necessarily be poor. A proposition to overcome this problem is given based on feedforward action.



2014 
Cea MG, Goodwin GC, Feuer A, Mayne DQ, 'On the control rate versus quantizerresolution trade off in networked control', IFAC Proceedings Volumes (IFACPapersOnline) (2014) [E1]
This paper addresses the controlrate versus quantizerresolution tradeoff in networked control. The case presented considers the situation where the bit rate between controller ... [more]
This paper addresses the controlrate versus quantizerresolution tradeoff in networked control. The case presented considers the situation where the bit rate between controller and plant is constrained to a fixed number of bits per unit of time and an underlying fixed fast sampling rate is deployed to take measurements. However, a variable control update rate can be used between the controller and the plant. Inspired by the practical problem of inner loop power control in WCDMA, we assume the plant is an integrator. This assumption covers more general plants when fast sampling is used. Also, a restricted architecture in which linear filters are used for the encoder/decoder is considered and a quantizer with linear feedback is deployed. These choices give maximal insights into the underlying problem. It is shown that, in this case, it is best to use one bit per sample, in which case, the control update frequency is equal to the bit rate.



2014 
Cea MG, Goodwin GC, Carvajal R, Middleton RH, Mahata K, Karlsson RS, 'Channel estimation and interpolation for fourth generation mobile broadband telecommunications', IFAC Proceedings Volumes (IFACPapersOnline) (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 preselected 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.



2014 
Quevedo DE, Ahlen A, Ostergaard J, Goodwin GC, 'Innovationsbased state estimation with wireless sensor networks', 2009 European Control Conference, ECC 2009 (2014)
We study a state estimation architecture for sensor networks, where several sensors transmit quantized innovations to a central estimator. Transmission is via a wireless channel, ... [more]
We study a state estimation architecture for sensor networks, where several sensors transmit quantized innovations to a central estimator. Transmission is via a wireless channel, which is prone to fading leading to random packet loss. State estimation is carried out at the gateway via a timevarying Kalman filter which accounts for packet loss and quantization effects. To form the innovations at the sensors, the estimator transmits information regarding its current state estimate to the sensors. This information could be dedicated to each sensor or broadcast to all sensors. In addition, the gateway also decides upon power levels and quantization stepsizes to be used by each sensor node. Here, we adopt elements of predictive control to trade off estimation performance versus energy use.



2014 
Silva EI, Goodwin GC, Quevedo DE, 'On the design of control systems over unreliable channels', 2009 European Control Conference, ECC 2009 (2014) [E1]
This paper studies LTI onedegreeoffreedom networked control architectures built around LTI SISO plants. The feedback path comprises an unreliable channel that drops data in an ... [more]
This paper studies LTI onedegreeoffreedom networked control architectures built around LTI SISO plants. The feedback path comprises an unreliable channel that drops data in an i.i.d. fashion. We extend known results to show that there exists a second order moments equivalence between the situation examined and an auxiliary feedback loop where the unreliable channel has been replaced by an additive i.i.d. noise channel that has an equality signaltonoise ratio constraint. We then use these insights to design optimal controllers. We also establish a necessary and sufficient condition on the successful transmission probability that allows for the design of a controller that guarantees MSS in the considered setup. Our proposal does not require packet arrival acknowledgements. Thus, our results give necessary and sufficient conditions for MSS in an outputfeedback control architecture with UDPlike protocols.



2014 
Delgado RA, Aguero JC, Goodwin GC, 'A RankConstrained Optimization Approach: Application to Factor Analysis', Proceedings of the 19th IFAC World Congress, Cape Town (2014) [E1]



2013 
Mirzaeva G, Goodwin G, 'Advanced Noise Shaping and Filter Design with Feedback Quantizer PWM', 2013 IEEE International Conference on Industrial Technology (ICIT), Cape Town, SOUTH AFRICA (2013) [E1]



2013 
Mirzaeva G, Goodwin G, Diaz M, Silva C, 'Noise shaping modulation and dynamic current control of NPC inverters for low switching frequency applications', 2013 IEEE Energy Conversion Congress and Exposition, ECCE 2013, Denver, Colorado (2013) [E1]



2013 
Kong H, Goodwin G, Seron M, 'Sparse networked control of input constrained linear systems', Proceedings of the IEEE Conference on Decision and Control, Florence, Italy (2013) [E1]



2013 
Carrasco DS, Goodwin GC, 'The role of asymptotic sampling zero dynamics in the sampleddata control of continuous nonlinear systems', Proceedings of the IEEE Conference on Decision and Control, Florence, Italy (2013) [E1]



2012 
Delgado Pulgar RA, Goodwin GC, Feuer A, 'An online MUSIC algorithm with applications to sparse signal reconstruction', MTNS 2012: 20th International Symposium on Mathematical Theory of Networks and Systems Proceedings, Melbourne (2012) [E1]



2012 
Cea Garrido ME, Goodwin GC, Wigren T, 'Model predictive zooming power control in future cellular systems under coarse quantization', 2012 IEEE Vehicular Technology Conference (VTC Fall). Proceedings, Quebec, Canada (2012) [E1]



2012 
Mirzaeva G, Goodwin GC, 'The use of feedback quantizer PWM for shaping inverter noise spectrum', 15th International Power Electronics and Motion Control Conference and Exposition, EPEPEMC 2012 ECCE Europe, Novi Sad, Serbia (2012) [E1]



2012 
Delgado Pulgar RA, Goodwin GC, Carvajal R, Aguero JC, 'A novel approach to model error modelling using the ExpectationMaximization algorithm', Proceedings of the 51st IEEE Conference on Decision and Control, Maui, Hawaii (2012) [E1]



2012 
Cooper HJ, Goodwin GC, Feuer A, Cea Garrido ME, 'Design of scenarios for constrained stochastic optimization via vector quantization', Proceedings of the American Control Conference, Montreal, Canada (2012) [E1]



2012 
Lundin EG, Lau K, Goodwin GC, 'Semidecentralized scheduling of users in heterogeneous WCDMA Telecommunications networks', 2012 6th International Conference on Signal Processing and Communication Systems (ICSPCS 2012), Gold Coast, Qld (2012) [E1] 


2012 
Yuz JI, Aguero JC, Goodwin GC, Alfaro JA, 'Connections between incremental and continuoustime EM algorithm for state space identification', Proceedings 16th IFAC Symposium on System Identification, Brussels, Belgium (2012) [E1]



2012 
Carvajal R, Aguero JC, Godoy BI, Goodwin GC, Yuz JI, 'EMbased identification of sparse FIR systems having quantized data', Proceedings 16th IFAC Symposium on System Identification, Brussels, Belgium (2012) [E1]



2012 
Carvajal R, Delgado Pulgar RA, Aguero JC, Goodwin GC, 'An identification method for ErrorsinVariables systems using incomplete data', Proceedings 16th IFAC Symposium on System Identification, Brussels, Belgium (2012) [E1]



2012 
Goodwin GC, Cea Garrido ME, Seron MM, Ferris DA, Middleton RH, Campos B, 'Opportunities and challenges in the application of nonlinear MPC to industrial problems', 4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12, Noordwijkerhout, NL (2012) [E1]



2012 
Mirzaeva G, Goodwin GC, 'Introducing Feedback Quantizer  A novel pulsewidth modulation strategy for voltage source inverters', AUPEC 2012 22nd Australasian Universities Power Engineering Conference, Bali, Indonesia (2012) [E1]



2012 
Mirzaeva G, Goodwin GC, 'Feedback quantizer vs sigmadelta modulator for voltage source inverters', IECON 2012  38th Annual Conference on IEEE Industrial Electronics Society, Montreal (2012) [E1]



2012 
Carvajal R, Godoy BI, Aguero JC, Goodwin GC, 'EMbased sparse channel estimation in OFDM systems', 2012 IEEE 13th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), Cesme, Turkey (2012) [E1]



2012 
Goodwin GC, Lau K, Cea Garrido ME, 'Control with communication constraints', 12th International Conference on Control, Automation, Robotics and Vision (ICARCV 2012), Guangzhou, China (2012) [E2]



2011 
Cea Garrido ME, Goodwin GC, 'An MPCbased nonlinear quantizer for bit rate constrained networked control problems with application to inner loop power control in WCDMA', 2011 9th IEEE International Conference on Control and Automation (ICCA), Santiago, Chile (2011) [E1]



2011 
Carrasco Yanez DS, Goodwin GC, 'An inputoutput sampled data model for a class of continuoustime nonlinear systems having no finite zeros', 2011 9th IEEE International Conference on Control and Automation (ICCA), Santiago, Chile (2011) [E1]



2011 
Goodwin GC, Cea Garrido ME, Cooper HJ, Feuer A, 'The scenario approach to stochastic optimization', 2011 9th IEEE International Conference on Control and Automation (ICCA), Santiago, Chile (2011) [E1]



2011 
Carrasco Yanez DS, Ljung L, Goodwin GC, Aguero JC, 'On the accuracy of parameter estimation for continuous time nonlinear systems from sampled data', 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDCECC), Orlando, FL (2011) [E1]



2011 
Goodwin GC, Cea Garrido ME, 'State and parameter estimation via minimum distortion filtering with application to chemical process control', Proceedings of the 2011 4th International Symposium on Advanced Control of Industrial Processes, Hangzhou, CN (2011) [E1]



2011 
Goodwin GC, Cea Garrido ME, 'Temporal and spatial quantization in nonlinear filtering', Proceedings of the 2011 4th International Symposium on Advanced Control of Industrial Processes, Hangzhou, CN (2011) [E1]



2011 
Carvajal R, Aguero JC, Godoy BI, Goodwin GC, 'EMbased channel estimation in OFDM systems with phase noise', 2011 IEEE Global Telecommunications Conference  GLOBECOM 2011, Houston, Texas (2011) [E1]



2011 
Carvajal R, Aguero JC, Godoy BI, Goodwin GC, 'On the accuracy of phase noise bandwidth estimation in OFDM systems', Proceedings of the 2011 IEEE 12th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), San Francisco, CA (2011) [E1]



2011 
Chen T, Ohlsson H, Goodwin GC, Ljung L, 'Kernel selection in linear system identification part II: A classical perspective', Proceedings of the IEEE Conference on Decision and Control, Orlando, Florida, USA (2011) [E1]



2011 
Romero ME, Seron MM, Goodwin GC, 'A combined model predictive control/space vector modulation (MPCSVM) strategy for direct torque and flux control of induction motors', Proceedings  IECON 2011  37th Annual Conference on IEEE Industrial Electronics Society, Melbourne, Vic (2011) [E1]



2011 
Carrasco Yanez DS, Goodwin GC, 'Preview and feedforward in model predictive control: A preliminary robustness analysis', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Cea Garrido ME, Goodwin GC, 'A new paradigm for state estimation in nonlinear systems via minimum distortion filtering', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Lau K, Goodwin GC, Cea Garrido ME, Wigren T, 'Linear and nonlinear decoupling for inner loop power control in 3G mobile communications', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Cea Garrido ME, Goodwin GC, Mueller CM, 'A novel technique based on upsampling for addressing modeling issues in sampled data nonlinear filtering', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Goodwin GC, Carrasco Yanez DS, Mayne DQ, Salgado ME, Seron MM, 'Preview and feedforward in model predictive control: Conceptual and design issues', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Delgado Pulgar RA, Aguero JC, Goodwin GC, Yuz JI, 'Twodegreeoffreedom antialiasing technique for wideband networked control', Proceedings of the 18th IFAC World Congress, 2011, Milano, Italy (2011) [E1]



2011 
Kong H, Goodwin GC, Seron MM, 'Predictive metamorphic control', ASCC 2011: The Eighth Asian Control Conference. Final Program and Proceedings, Kaohsiung, Taiwan (2011) [E1]



2010 
Goodwin GC, Mayne DQ, Chen T, Coates C, Mirzaeva G, Quevedo DE, 'Opportunities and challenges in the application of advanced control to power electronics and drives', Proceedings. ICIT 2010: IEEEICIT 2010 International Conference on Industrial Technology, Vina Del Mar, Chile (2010) [E1]



2010 
Goodwin GC, Cea Garrido ME, Feuer A, 'Rapprochement between discrete and continuous nonlinear filtering', 2010 American Control Conference, ACC 2010, Baltimore, MD (2010) [E1]



2010 
Cea Garrido ME, Goodwin GC, Feuer A, 'A discrete nonlinear filter for fast sampled problems based on vector quantization', 2010 American Control Conference, ACC 2010, Baltimore, MD (2010) [E1]



2010 
Goodwin GC, Yuz JI, Aguero JC, Cea Garrido ME, 'Sampling and sampleddata models', 2010 American Control Conference, ACC 2010, Baltimore, MD (2010) [E1]



2010 
Marelli DE, Godoy BI, Goodwin GC, 'A scenariobased approach to parameter estimation in statespace models having quantized output data', Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA (2010) [E1]



2010 
Aguero JC, Yuz JI, Goodwin GC, Tang W, 'Identification of statespace systems using a dual timefrequency domain approach', Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, GA (2010) [E1]



2009 
Aguero JC, Rojas CR, Goodwin GC, 'Fundamental limitations on the accuracy of MIMO linear models obtained by PEM for systems operating in open loop', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China (2009) [E1]



2009 
Godoy BI, Goodwin GC, Aguero JC, Rojas AJ, 'An algorithm for estimating timevarying commodity price models', Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China (2009) [E1]



2009 
Aguero JC, Goodwin GC, Lau K, Wang M, Silva EI, Wigren T, 'Threedegree of freedom adaptive power control for CDMA cellular systems', GLOBECOM 2009: 2009 IEEE Global Telecommunications Conference, Honolulu, Hawaii (2009) [E1]



2009 
Aguero JC, Godoy BI, Goodwin GC, Wigren T, 'Scenariobased EM identification for FIR systems having quantized output data', Proceedings of the 15th IFAC Symposium on System Identification, SaintMalo, France (2009) [E1]



2009 
Aguero JC, Goodwin GC, Soderstrom T, Yuz JI, 'Sampled data errorsinvariables systems', Proceedings of the 15th IFAC Symposium on System Identification, SaintMalo, France (2009) [E1]



2009 
Delgado RA, Yuz JI, Aguero JC, Goodwin GC, 'A numerical study of time and frequency domain maximum likelihood estimation', Proceedings of the 15th IFAC Symposium on System Identification, SaintMalo, France (2009) [E1]



2009 
Perez T, Goodwin GC, Godoy BI, 'Parameter estimation of structural commodity price models', Proceedings of the 15th IFAC Symposium on System Identification, SaintMalo, France (2009) [E1]



2009 
Rojas AJ, Goodwin GC, Renton CP, 'Short or long memory estimators?', Proceedings of the 15th IFAC Symposium on System Identification, SaintMalo, France (2009) [E1]



2009 
Goodwin GC, Medioli AM, Sher W, Welsh JS, 'The role of design in control engineering education', IFAC Proceedings Volumes (IFACPapersOnline), Kumamoto, Japan (2009) [E1]



2009 
Quevedo DE, Ahlen A, Ostergaard J, Goodwin GC, 'Innovationsbased state estimation with wireless sensor networks', ECC'09: European Control Conference 2009 Proceedings, Budapest, Hungary (2009) [E1] 


2008 
Wang M, Goodwin GC, Quevedo DE, 'EMbased receiver design for uplink MIMOOFDMA systems', 2008 IEEE International Conference on Communications. Proceedings, Beijing, China (2008) [E1]



2008 
Quevedo DE, Ahlen A, Goodwin GC, 'Predictive power control of wireless sensor networks for closed loop control', International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, Pavia, Italy (2008) [E2] 


2008 
Adams GJ, Burke BJ, Goodwin GC, Gravdahl JT, Peirce RD, Rojas AJ, 'Managing steam and concentration disturbances in multieffect evaporators via nonlinear modelling and control', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Silva EI, Goodwin GC, Quevedo DE, 'On networked control architectures for MIMO plants', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Silva EI, Quevedo DE, Goodwin GC, 'Optimal controller design for networked control systems', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Aguero JC, Goodwin GC, 'Identifiability of EIV dynamic systems with nonstationary data', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Goodwin GC, Yuz JI, Aguero JC, 'Relative error issues in sampled data models', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Lau K, Braslavsky JH, Aguero JC, Goodwin GC, 'Application of nonstationary EIV methods to transient electromagnetic mineral exploration', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Lovaas C, Seron MM, Goodwin GC, 'Robust outputfeedback MPC with soft state constraints', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Wertz V, Silva EI, Goodwin GC, Codrons B, 'Performance limitation arising in the control of power plants', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Welsh JS, Daredia T, Sobora FH, Vlacic L, Goodwin GC, 'Simulated versus hardware laboratories for control education: A critical appraisal', Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea (2008) [E1]



2008 
Derpich MS, Ostergaard J, Goodwin GC, 'The quadratic gaussian ratedistortion function for source uncorrelated distortions', Proceedings: DCC 2008 : 2008 Data Compression Conference, Snowbird, Utah (2008) [E1]



2008 
Derpich MS, Quevedo DE, Goodwin GC, 'Conditions for optimality of scalar feedback quantization', 2008 International Conference on Acoustics, Speech and Signal Processing. Proceedings, Las Vegas, Nevada (2008) [E1]



2008 
Goodwin GC, 'Digital Control: Past, Present and Future', CONTROL SCIENCE EVOLUTION, Politecn Milano, Milan, ITALY (2008) [E1] 


2008 
Goodwin GC, Silva EI, Quevedo DE, 'A brief introduction to the analysis and design of networked control systems', 2008 Chinese Control and Decision Conference, Shandong, China (2008) [E1]



2008 
Wang M, Quevedo DE, Goodwin GC, Krongold BS, 'A complexbaseband activeset approach for tone reservation PAR reduction in OFDM systems', Proceedings of the 2008 Australian Communications Theory Workshop, Christchurch, NZ (2008) [E1]



2008 
Hovland S, Lovaas C, Gravdahl JT, Goodwin GC, 'Stability of model predictive control based on reducedorder models', Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico (2008) [E1]



2008 
Aguero JC, Goodwin GC, Van Den Hof PMJ, 'Virtual closed loop identification: A generalized tool for identification in closed loop', Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico (2008) [E1]



2008 
Alamir M, Welsh JS, Goodwin GC, 'On useful redundancy in experiment design for nonlinear system identification', Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico (2008) [E1]



2007 
Welsh JS, Goodwin GC, Garnier H, 'A method for bias reduction in time domain least squares parameter estimation', 3rd IFAC Symposium on System, Structure and Control. SSSC07 Proceedings, Foz do Iguassu, Brazil (2007) [E1]



2007 
Goodwin GC, Aguero JC, Welsh JS, Adams GJ, Yuz JI, Rojas CR, 'Robust identification of process models from plant data', DYCOPS 2007: 8th International IFAC Symposium on Dynamics and Control of Process Systems. Papers, Cancun, Mexico (2007) [E1]



2007 
YuzEissmann JI, Goodwin GC, 'SampledData Models for Stochastic Nonlinear Systems', Preprints of the 14th IFAC Symposium on System Identification, Newcastle, NSW, Australia (2007) [E1] 


2007 
Goodwin GC, Welsh JS, Feuer A, Derpich MS, 'Utilizing Prior Knowledge in Robust Optimal Experiment Design', Preprints of the 14th IFAC Symposium on System Identification, Newcastle, Australia (2007) [E1]



2007 
Wang M, Quevedo DE, Goodwin GC, Krongold BS, 'OFDMA uplink PAR reduction via tone reservation', IEEE GLOBECOM 2007 Proceedings, Washington (2007) [E1]



2007 
Quevedo DE, Silva EI, Goodwin GC, 'Performance limits in multichannel networked control system architectures', Preprints of the 3rd IFAC Symposium on System, Structure and Control. SSSC07, Foz do Iguassu, Brazil (2007) [E1] 


2007 
Lin J, Goodwin GC, 'Frequencydomain constructed redundant bases for denoising', 7th WSEAS International Conference on Multimedia Systems & Signal Processing. Proceedings, Hangzhou, China (2007) [E1]



2007 
Goodwin GC, Aguero JC, Welsh JS, YuzEissmann JI, 'Some Observations on Nonlinear System Identification', Preprints of the 14th IFAC Symposium on System Identification, Newcastle, NSW, Australia (2007) [E1]



2007 
Silva EI, Quevedo DE, Goodwin GC, 'Optimal multibit digital to analog conversion', ISCIT '07. International Symposium on Communications and Information Technologies. Proceedings, Sydney (2007) [E1]



2007 
Silva EI, McGrath BP, Quevedo DE, Goodwin GC, 'Predictive control of a flying capacitor converter', Proceedings of the 2007 American Control Conference. ACC '07, New York (2007) [E1]



2007 
Rojas CR, Welsh JS, Goodwin GC, 'A receding horizon algorithm to generate binary signals with a prescribed autocovariance', Proceedings of the 2007 American Control Conference. ACC '07, New York (2007) [E1]



2007 
Quevedo DE, Silva EI, Goodwin GC, 'Packetized predictive control over erasure channels', Proceedings of the 2007 American Control Conference. ACC '07, New York (2007) [E1]



2007 
Derpich MS, Quevedo DE, Goodwin GC, 'Optimal ADconversion via sampleddata receding horizon control', 2006 Chinese Control Conference Proceedings (CCC 2006), Harbin, Heilongjiang, China (2007) [E1]



2007 
Rojas CR, Welsh JS, Goodwin GC, 'A receding horizon algorithm to generate binary signals with a prescribed autocovariance', 2007 AMERICAN CONTROL CONFERENCE, VOLS 113, New York, NY (2007)



2007 
Aguero JC, Goodwin GC, Yuz JI, 'System identification using quantized data', Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans (2007) [E1]



2007 
Silva EI, Quevedo DE, Goodwin GC, 'Optimal coding for bitrate limited networked control systems in the presence of data loss', Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans (2007) [E1]



2007 
Goodwin GC, Seron MM, Mayne DQ, 'Optimisation: A key tool for advanced design in scheduling, estimation and control', IFAC Proceedings Volumes (IFACPapersOnline) (2007)
Advanced design aims to achieve the best possible performance subject to operational constraints. Such questions can be formulated as optimization problems. The advantages of usin... [more]
Advanced design aims to achieve the best possible performance subject to operational constraints. Such questions can be formulated as optimization problems. The advantages of using an explicit optimization formulation include clear articulation of performance tradeoffs and the provision of a clear basis for quantitative comparison of different strategies. In this paper we will briefly review aspects of modern optimization. We will also show how these tools can be deployed in scheduling, estimation and control. We will illustrate the ideas by examples drawn from the mining, mineral and metal processing field. Copyright © 2007 IFAC.



2007 
Goodwin GC, Seron MM, Mayne DQ, 'Optimisation: A key tool for advanced design in scheduling, estimation and control (Invited Paper)', IFAC MMM'07. 12th IFAC Symposium on Automation in Mining, Mineral and Metal Processing. Proceedings, Quebec (2007) [E1]



2007 
Lovaas C, Seron MM, Goodwin GC, 'Robust model predictive control of inputconstrained stable systems with unstructured uncertainty', Proceedings of the European Control Conference 2007, Kos, Greece (2007) [E1]



2007 
Aguero JC, Yuz JI, Goodwin GC, 'Frequency domain identification of MIMO state space models using the EM algorithm', Proceedings of the European Control Conference 2007, Kos, Greece (2007) [E1]



2007 
Goodwin GC, Yuz JI, Salgado ME, 'Insights into the zero dynamics of sampleddata models for linear and nonlinear stochastic systems', Proceedings of the European Control Conference 2007, Kos, Greece (2007) [E1]



2007 
Rojas CR, Goodwin GC, Welsh JS, Feuer A, 'Optimal experiment design with diffuse prior information', Proceedings of the European Control Conference 2007, Kos, Greece (2007) [E1]



2007 
Silva EI, Goodwin GC, Quevedo DE, Derpich MS, 'Optimal noise shaping for networked control systems', Proceedings of the European Control Conference 2007, Kos, Greece (2007) [E1]



2007 
Aguero JC, Goodwin GC, 'Identifiability of Errors in Variables Dynamic Systems', Preprints of the 14th IFAC Symposium on System Identification, Newcastle, Australia (2007) [E1]



2007 
Lovaas C, Seron MM, Goodwin GC, 'A dissipativity approach to robustness in constrained model predictive control', Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans (2007) [E1]



2007 
Lau K, Braslavsky JH, Goodwin GC, 'Errorsinvariables problems in transient electromagnetic mineral exploration', Proceedings of the 46th IEEE Conference on Decision and Control 2007, New Orleans (2007) [E1]



2006 
Derpich MS, Quevedo DE, Goodwin GC, Feuer A, 'Quantization and sampling of not necessarily bandlimited signals', 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing, Vol III, Proceedings, Toulouse, FRANCE (2006) 


2006 
Quevedo D, Welsh J, Goodwin G, McLeod M, 'Networked PID Control', 2006 IEEE International Conference on Control Applications (2006)



2006 
Hennessy BF, Goodwin GC, Seron MM, 'Closed Loop Stochastic Control Strategies for Optimal Mine Planning', APC 2006 Advanced Process Control Applications for Industry Workshop, Vancouver, Canada (2006) [E2]



2006 
Rojas Norman OJ, Goodwin GC, Domanti T, 'Nonlinear constrained Model Predictive Control (NMPC) approach to air knife control in galvanizing lines', APC 2006 Advanced Process Control Applications for Industry Workshop, Vancouver, Canada (2006) [E2] 


2006 
Goodwin GC, Quevedo DE, Silva EI, 'Filter Banks in Networked Control', Proceedings of the 17th International Symposium on Mathematical Theory of Networks ans Systems, Kyoto, Japan (2006) [E1] 


2006 
Quevedo DE, Goodwin GC, 'An Improved Architecture For Networked Control Systems', Proceedings of 16th IFAC World Congress, Prague, Czech Republic (2006) [E1]



2006 
Goodwin GC, YuzEissmann JI, Hugues G, 'Robustness Issues In ContinuousTime System Identification From Sampled Data', Proceedings of 16th IFAC World Congress, Prague, Czech Republic (2006) [E1]



2006 
Seron MM, Kyung SY, Goodwin GC, 'Backlash Compensation Using Receding Horizon Control', Proceedings of 16th IFAC World Congress, Prague, Czech Republic (2006) [E1]



2006 
Aguero JC, Goodwin GC, Salgado ME, 'On The Optimal Estimation of Errors In Variables Models For Robust Control', Proceedings of 16th IFAC World Congress, Prague,Czech Republic (2006) [E1] 


2006 
Quevedo DE, Welsh JS, Goodwin GC, McLeod MC, 'Networked PID Control', Proceedings of the 2006 IEEE International Conference on Control Applications, Munich, Germany (2006) [E1]



2006 
Summers TJ, Betz RE, McGrath BP, Goodwin GC, 'Induction Machine Shaft Speed Estimation using Imaginary Power', Proceedings of the EPEPEMC 2006 12th International Power Electronics and Motion Control Conference, Portoroz, Slovenia (2006) [E1]



2006 
Lovaas C, Seron MM, Goodwin GC, 'Inverse Minimax Optimality of Model Predictive Control Policies', Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, USA (2006) [E1]



2006 
Aguero JC, Goodwin GC, 'On the Optimality of Open and Closed Loop Experiments in System Identification', Proceedings of the 45th IEEE Conference on Decison and Control, San Diego CA, USA (2006) [E1]



2006 
Welsh JS, Goodwin GC, Feuer A, 'Evaluation and Comparison of Robust Optimal Experiment Design Criteria', Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA (2006) [E1]



2006 
Lovaas C, Goodwin GC, Seron MM, 'Nonparametric Linear Quadratic Optimal Control in the Frequency Domain', Proceedings of the 2006 American Control Conference, Minneapolis, Minnesota, USA (2006) [E1]



2006 
Wang M, Quevedo DE, Goodwin GC, 'Joint Data Detection and Channel Estimation for MIMOOFDM Systems via EM Algorithm and Sphere Decoding', IEEE GLOBECOM 2006 Proceedings, San Francisco, CA, USA (2006) [E1]



2006 
Derpich MS, Quevedo DE, Goodwin GC, Feuer A, 'Quantization and Sampling of not Necessarily BandLimited Signals', ICASSP 2006 Proceedings, 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing, Toulouse, France (2006) [E1]



2006 
Goodwin GC, Derpich MS, Quevedo DE, 'Efficient Data Representations for Signal Processing and Control: 'Making Most of a Little'', Proceedings of the 25th Chinese Control Conference, Harbin, China (2006) [E1] 


2005 
Derpich MS, Quevedo DE, Goodwin GC, 'Probability of Interpolation for A Mute Sample Interpolative A/D Converter with HorizonLength Two', Proceedings of Tencon 2005  2005 IEEE Region 10, Melbourne, Vic (2005) [E1] 


2005 
YuzEissmann JI, Goodwin GC, 'Generalised Filters and Stochastic Sampling Zeros', Proceedings of 44th Conference on Decision and Control, Seville, Spain (2005) [E1]



2005 
Goodwin GC, Aguero JC, 'Approximate EM Algorithms for Parameter and State Estimation In Nonlinear Stochastic Models', Proceedings of 44th IEEE Conference on Decision and Control, Seville, Spain (2005) [E1]



2005 
Seron M, Yoo KS, Goodwin G, 'Backlash compensation using receding horizon control', IFAC Proceedings Volumes (IFACPapersOnline) (2005)
We present a receding horizon control algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is first posed as a... [more]
We present a receding horizon control algorithm for compensation of backlash at the input of a stable linear system under control rate constraints. The problem is first posed as a receding horizon optimal control problem by modelling backlash as a piecewise affine system with a state space partition consisting of three regions. This optimal control problem involves solving, at each step, 3N quadratic programmes, where N is the optimisation horizon. As an alternative to solving the quadratic programmes, we propose a strategy based on a recently devised suboptimal receding horizon control algorithm which utilises a singular value decomposition of the Hessian of the quadratic programme. This alternative strategy leads, at the cost of some performance degradation, to much smaller computational load since a feasible rather than optimal solution has to be obtained at each step. Copyright © 2005 IFAC.



2004 
Lau K, Quevedo DE, Goodwin GC, Moheimani SO, 'Multimodal modulated and demodulated vibration control of flexible structures using piezoelectric transducers', Mechatronic Systems 2004, A Proceedings Volume from the 3rd IFAC Symposium, Sydney (2004) [E1]



2004 
Aguero JC, Goodwin GC, 'A recursive algorithm for mimo stochastic model estimation', CD ROM, Melbourne (2004) [E1] 


2004 
Haimovich H, Goodwin GC, Welsh JS, 'Setvalued observers for constrained state estimation of discretetime systems with quantised measurements', CD ROM, Melbourne (2004) [E1]



2004 
Welsh JS, Goodwin GC, 'An alternative regularisation technique in closed loop nonparametric frequency domain system identification', CD ROM, Melbourne (2004) [E1]



2004 
Quevedo DE, Goodwin GC, 'When is the naive quantised control law globally optimal', The Proceedings of the 5th Asian Control Conference, Melbourne (2004) [E1]



2004 
Aguero JC, Goodwin GC, 'Virtual closed loop identification: a subspace approach', CD ROM, Bahamas (2004) [E1]



2004 
YuzEissmann JI, Goodwin GC, Garnier H, 'Generalised hold functions for fast sampling rates', CD ROM, Bahamas (2004) [E1]



2004 
Garnier H, Goodwin GC, Welsh JS, 'A timedomain approach to continuoustime model identification of highly resonant wideband systems', CD ROM, Sydney (2004) [E1]



2004 
Quevedo DE, Goodwin GC, Welsh JS, 'Design issues arising in a networked control system architecture', CD ROM, Taipei (2004) [E1]



2004 
Goodwin GC, De Dona JA, Seron MM, Zhuo XW, 'On the duality of constrained estimation and control', CD ROM, Boston (2004) [E1]



2004 
Lau K, Goodwin GC, M'Closkey RT, 'Fundamental performance limitations of modulated and demodulated control systems', CD ROM, Boston (2004) [E1]



2004 
Quevedo DE, Goodwin GC, 'Control of emi from switchmode power supplies via multistep optimization', CD ROM, Boston (2004) [E1]



2004 
Rojas Norman OJ, Goodwin GC, 'On the asymptotic properties of the hessian in discretetime linear quadratic control', CD ROM, Boston (2004) [E1]



2004 
Quevedo DE, Goodwin GC, Bolcskei H, 'Multistep optimal quantization in oversampled filter banks', Conference Paper, Atlantis, Bahamas (2004) [E1]



2004 
Perez T, Goodwin GC, 'On constrained control of fin, rudder and combined finrudder stabilizers: a quasiadaptive control strategy', Conference Paper, Ancona, Italy (2004) [E1]



2003 
Welsh JS, Goodwin GC, 'Frequency localising basis functions for wideband identification', European Control Conference, ECC 2003 (2003)
A well known difficulty in system identification over a large bandwidth is the illconditioning of the normal matrix. This typically manifests itself as poor or erroneous estimate... [more]
A well known difficulty in system identification over a large bandwidth is the illconditioning of the normal matrix. This typically manifests itself as poor or erroneous estimates. Several methods have been proposed in the literature for addressing this issue. However, none appear to give an entirely satisfactory solution. Here we present a novel technique, utilising particular basis functions, aimed specifically at improving the numerical properties of the least squares normal matrix in transfer function estimation over a wide bandwidth. We show that, under some mild assumptions, the achieved condition number is actually independent of the frequency range. Several examples are presented showing the superior performance of the proposed method when applied to wideband estimation problems.



2003 
Haimovich H, Pérez T, Goodwin GC, 'On optimality and certainty equivalence in output feedback control of constrained uncertain linear systems', European Control Conference, ECC 2003 (2003)
We address the problem of finitehorizon optimal control of uncertain discretetime SISO linear systems with input constraints. The uncertainty for the problem analyzed is related... [more]
We address the problem of finitehorizon optimal control of uncertain discretetime SISO linear systems with input constraints. The uncertainty for the problem analyzed is related to incomplete state information (output feedback) and stochastic disturbances. We analyze the optimal solutions for short optimization horizons when the disturbances and the initial state are Gaussian random vectors. We also consider two suboptimal strategies, one of which is known as Certainty Equivalent Control.



2003 
YuzEissmann JI, Goodwin GC, Feuer A, De Dona JA, 'Singular Structure Convergence for Linear Quadratic Problems', Proceedings for ECC 2003, Cambridge, England (2003) [E1]



2003 
Haimovich H, Perez T, Goodwin GC, 'On Optimality and Certainty quivalence in Output Feedback Control of Constrained Uncertain Linear Systems', Proceedings for ECC 2003, Cambridge, England (2003) [E1] 


2003 
Haimovich H, Seron MM, Goodwin GC, Aguero JC, 'A Neural Approximation to the Explicit Solution of Constrained Linear MPC', Proceedings for ECC 2003, Cambridge, England (2003) [E1]



2003 
Welsh JS, Goodwin GC, 'Frequency Localising Basis Functions for WideBand Identification', Proceedings for ECC 2003, Cambridge, England (2003) [E1]



2003 
Goodwin GC, Aguero JC, Skelton RE, 'Conditions for local convergence of maximum likelihood estimation for armax models', Proceedings for IFAC SYSID 2003 (CD ROM), Rotterdam, The Netherlands (2003) [E1] 


2003 
Aguero JC, Feuer A, Goodwin GC, 'Terrain Modelling via Triangular Regular Networks', Proceedings of MODSIM 2003 (on CD ), Jupiters Hotel and Casino, Townsville, Aust (2003) [E1] 


2003 
Perez T, Goodwin GC, Skelton RE, 'Analysis of performance and applicability of rudderbased stabilizers', IFAC Proceedings Volumes (IFACPapersOnline) (2003)
In this paper, we revisit the factors that limit the achievable performance of rudderbased roll stabilizers for ships. We quantify the best performance in terms of roll reduction... [more]
In this paper, we revisit the factors that limit the achievable performance of rudderbased roll stabilizers for ships. We quantify the best performance in terms of roll reduction, and roll reduction vs. heading interference for a given sea state and sailing condition. We do this in the context of limiting optimal control incorporating input constraints. The performance indices obtained provide a benchmark against which other control strategies can be compared, and also provide a criterion to assess applicability of the this type of stabilizer to a particular ship.



2003 
Perez T, Goodwin GC, 'Constrained control to prevent dynamic stall of ship fin stabilizers', IFAC Proceedings Volumes (IFACPapersOnline) (2003)
In high sea states, the effectiveness of fin stabilizers can severely deteriorate due to nonlinear effects arising from unsteady hydrodynamic characteristics of the fins; namely ... [more]
In high sea states, the effectiveness of fin stabilizers can severely deteriorate due to nonlinear effects arising from unsteady hydrodynamic characteristics of the fins; namely dynamic stall. In this paper, we review some concepts related to this phenomenon, and suggest the application of a constrained control strategy to prevent the development of these nonlinear effects for fin stabilizers.



2003 
Haimovich H, Seron MM, Goodwin GC, Agüero JC, 'A neural approximation to the explicit solution of constrained linear MPC', European Control Conference, ECC 2003 (2003)
The solution to constrained linear model predictive control (MPC) problems can be precomputed offline in an explicit form as a piecewise affine (PWA) state feedback law defined ... [more]
The solution to constrained linear model predictive control (MPC) problems can be precomputed offline in an explicit form as a piecewise affine (PWA) state feedback law defined on polyhedral regions of the state space. Even though realtime optimization is avoided, implementation of the PWA statefeedback law may still require a significant amount of computation due to the problem of determining which polyhedral region the state lies in. In this paper, a neural network approach to this problem is investigated.



2003 
Goodwin GC, Agüero JC, Skelton RE, 'Conditions for local convergence of maximum likelihood estimation for armax models', IFAC Proceedings Volumes (IFACPapersOnline) (2003)
This paper analyzes the conditions for local convergence of Maximun Likelihood estimation for ARMAX models. We do this by examining the region in which the steepest descent direct... [more]
This paper analyzes the conditions for local convergence of Maximun Likelihood estimation for ARMAX models. We do this by examining the region in which the steepest descent direction leads to a reduction in the Euclidean norm of the parameter error. Interalia this gives new insights into the question of existence of local maxima of the likelihood function for various commonly used model structures.



2003 
Quevedo DE, Goodwin GC, 'Audio Quantization from a Receding Horizon Control Perspective', Proceedings for ACC 2003 (CD ROM), The Adams Mark Hotel, Denver, Colorado (2003) [E1]



2003 
Rojas Norman OJ, Goodwin GC, Feuer A, Seron MM, 'A suboptimal receding horizon control strategy for constrained linear systems', Proceedings for the 2003 ACC, The Adams Mark Hotel, Denver, Colorado (2003) [E1]



2003 
Goodwin GC, Quevedo DE, De Dona JA, 'An Application of Receding Horizon Control to Estimation with Quantized Coefficients', Proceedings of the 2003 ACC (CD ROM), The Adams Mark Hotel, Denver, Colorado (2003) [E1]



2003 
Haimovich H, Goodwin GC, Quevedo DE, 'Moving Horizon Monte Carlo State Estimation for Linear Systems with Output Quantization', Proceedings for CDC 2003 (CD ROM), Maui, Hawaii (2003) [E1]



2003 
Rojas Norman OJ, Seron MM, Goodwin GC, 'SVD based receding horizon control for constrained linear systems: stability results', Proceedings for CDC 2003 (CD ROM), Maui, Hawaii, USA (2003) [E1]



2003 
Quevedo DE, Goodwin GC, Welsh JS, 'Minimizing DownLink Traffic in Networked Control Systems via Optimal Control Techniques', Proceedings for CDC 2003 (CD ROM), Maui, Hawaii, USA (2003) [E1]



2003 
Goodwin GC, Perez T, De Dona JA, 'An introduction to constrained control', MODELING, CONTROL AND OPTIMIZATION OF COMPLEX SYSTEMS, CAMBRIDGE, MA (2003)



2003 
Yuz J, Goodwin G, Feuer A, De Doná J, 'Singular structure convergence for linear quadratic problems', European Control Conference, ECC 2003 (2003)
This paper considers the singular structure for sampled data LQ problems of continuous linear systems, and the asymptotic behaviour when the sampling rate is increased. We show th... [more]
This paper considers the singular structure for sampled data LQ problems of continuous linear systems, and the asymptotic behaviour when the sampling rate is increased. We show that there is a natural convergence between the finite set of singular values of the discrete time problem, and the (infinite) countable set in continuous time.



2002 
Albertos P, Goodwin GC, 'Virtual Sensors for Control Applications', Annual Reviews in Control, UK (2002) [E2]



2002 
Goodwin GC, 'Inverse Problems with Constraints', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
Quevedo DE, De Dona JA, Goodwin GC, 'Receding Horizon Linear Quadratic Control with Finite Input Constraint Sets', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
Goodwin GC, Aguero JC, Feuer A, 'State Estimation for Systems Having Random Measurement Delays Using Errors in Variables', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
Rojas Norman OJ, Goodwin GC, 'A Simple AntiWindup Strategy for State Constrained Linear Conrol', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
De Dona JA, Goodwin GC, Jutan A, 'A Rolling Horizon State Estimator with Constraint Horison One', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
Perez T, Goodwin GC, Seron MM, 'Cheap Control Performance Limitations of Input Constrained Linear Systems', 15th Triennial World Congress, Barcelona, Spain (2002) [E1]



2002 
Goodwin GC, Welsh JS, 'Self Excited Closed Loop Parametric Estimation in the Presence of Noise Undermodelling', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]



2002 
Seron MM, Goodwin GC, De Dona JA, 'Finitely Parameterised Implementation of Receding Horizon Control for Constrained Linear Systems', Proceedings of the American Control Conference, Anchorage, Alaska (2002) [E1]



2002 
Rojas Norman OJ, Goodwin GC, Desbiens A, 'Study of an adaptive antiwindup strategy for crossdirectional control systems', Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA (2002) [E1]



2002 
Quevedo DE, De Dona JA, Goodwin GC, 'On the Dynamics of Receding Horizon Linear Quadratic Finite Alphabet Control Loops', Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, Nevada, USA (2002) [E1]



2001 
Dodds SA, Adams GJ, Heath WP, Goodwin GC, 'Application of an Extended Kalman Filter to a Binary Distillation Column Model', Proceedings from the 6th IFAC Symposium on Dynamics and Control of Process Systems, Jejudo Island, Korea (2001) [E1] 


2001 
Perez T, Goodwin GC, 'Stochastic Output Feedback Model Predictive Control', Proceedings of the American Control Conference, Arlington, Virginia (2001) [E1]



2001 
Rojas Norman OJ, Goodwin GC, 'Preliminary analysis of a nonlinear control scheme related to Feedback Linearization', Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida USA (2001) [E1]



2001 
Welsh JS, Goodwin GC, 'Analysis of a Self Tuning Iteration in the Presence of Noise Undermodelling', Proceedings of 40th IEEE Conference on Decision and Control, Orlando, Florida USA (2001) [E1]



2001 
Brinsmead TS, Goodwin GC, 'Cheap decoupled control', AUTOMATICA, TAMPA, FL (2001)



2000 
Goodwin GC, Feuer A, 'Adaptive Control: Where to Now?', ASSPCC 2000, Canada (2000) [E2]



2000 
Seron MM, De Dona JA, Goodwin GC, 'Global Analytical Model Predictive Control with Input Constraints', CDC Downunder, Sydney, Australia (2000) [E1]



2000 
Goodwin GC, Perez T, Seron M, Tzeng CY, 'On Fundamental Limitations for Rudder Roll Stabilisation of Ships', CDC Downunder, Sydney, Australia (2000) [E1]



2000 
Mayne DQ, De Dona JA, Goodwin GC, 'Improved stabilising conditions for model predictive control', CDC Downunder, Sydney, Australia (2000) [E1]



2000 
Brinsmead TS, Goodwin GC, 'Fundamental Limits for Sensitivity Reduction in MultipleINput MultipleOutput Plants', CDC Downunder (CDRom), Sydney, Australia (2000) [E1] 


2000 
Wang L, Goodwin GC, 'Integrating Identification with Robust Control: a Mixed Approach', CDC Downunder (CDRom), Sydney, Australia (2000) [E1]



2000 
Perez T, Tzeng CY, Goodwin GC, 'Model Predictive Rudder Roll Stabilisation Control for Ships', MCMC2000 Proceedings, Aalborg, Denmark (2000) [E1] 


2000 
De Dona JA, Moheimani SO, Goodwin GC, 'Robust combined PLC/LHG controller with allowed oversaturation of the input signal', Proceedings of the American Control Conference, Chicago, Illinois, USA (2000) [E1]



2000 
De Dona JA, Goodwin GC, 'A general scheme that combines piecewiselinear control, lowhighgain control and oversaturation to achieve high performance in the presence of input saturation', Proceedings of the American Control Conference, Chicago, Illinois, USA (2000) [E1]



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



2000 
De Dona JA, Goodwin GC, 'Elucidation of the statespace regions wherein model predictive control and antiwindup strategies achieve identical control policies', Proceedings of the American Control Conference, Chicago, Illinois, USA (2000) [E1]



2000 
Goodwin GC, 'Industrial Control: The TheoryArchitecture Gap', Process Control and Instrumentation 2000 Proceedings, Glasgow (2000) [E2] 


2000 
Goodwin GC, Rojas Norman OJ, 'Robustness issues associated with the provision of Integral Action in Nonlinear Systems', Robust Control Workshop 2000  Workshop Proceedings (CDRom), Newcastle, Australia (2000) [E2] 


2000 
Albertos P, Goodwin GC, 'Virtual Sensors for Control Applications', SICICA 2000, Buenos Aires, Argentina (2000) [E2] 


2000 
Seron MM, De Dona JA, Goodwin GC, 'Global analytical model predictive control with input constraints', PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15, SYDNEY, AUSTRALIA (2000) [C1]



2000 
Mayne DQ, De Dona JA, Goodwin GC, 'Improved stabilising conditions for model predictive control', PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15, SYDNEY, AUSTRALIA (2000)



1999 
Goodwin GC, 'Evaluating the Performance of Virtual Sensors', 1999 Information, Decision and Control Proceedings, Adelaide, Australia (1999) [E1]



1999 
Rodriguez JA, Romagnoli JA, Goodwin GC, Crisafulli S, 'Advanced Control of a Pilot Distillation Column within a UNAC Environment, Interfaced with an ABB MOD 300 DCS', Chemeca 99, Newcastle, Australia (1999) [E1] 


1999 
Wang L, Goodwin GC, Owens DH, 'Robust Controller Design for Unstable Systems using Statistical Confidence Bounds', European Control Conference ECC'99  Conference Proceedings, Karlsruhe, Germany (1999) [E1] 


1999 
Henriksen SJ, Wang L, Goodwin GC, Shook A, 'Application of a Genetic Algorithm in Crane Movement Scheduling', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1] 


1999 
Goodwin GC, Wang L, Miller D, 'BiasVariance TradeOff Issues in Robust Controller Design using Statistical Confidence Bounds', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1] 


1999 
Goodwin GC, Braslavsky JH, Seron MM, 'NonStationary Stochastic Embedding for Transfer Function Estimation', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1]



1999 
Welsh JS, Goodwin GC, 'A Novel Mechanism for Autotuning based on Quantisation', IFAC World Congress 1999, Beijing, P.R. China (1999) [E1]



1999 
De Dona JA, Moheimani SO, Goodwin GC, Feuer A, 'Allowing for OverSaturation in Robust Switching Control of a Class of Uncertain Systems', Proceedings of the 38th Conference on Decision and Control, Phoenix, Arizona USA (1999) [E1]



1999 
Goodwin GC, Welsh JS, 'Analysis of a Novel Method of Autotuning a Multivariable Plant Based on Quantisation', Proceedings of the American Control Conference, San Diego, California, USA (1999) [E1]



1999 
Goodwin GC, Seron MM, Salgado ME, 'H(subscript)2 Design of Decentralized Controllers', Proceedings of the American Control Conference, San Diego, California, USA (1999) [E1]



1999 
Brinsmead TS, Goodwin GC, 'An Algebraic Approach to Optimal Output Decoupling by Output Feedback Control', Proceedings of the Centre for Mathematics and its Applications, The Unviersity of Newcastle (1999) [E1] 


1999 
Goodwin GC, 'Identification and Robust Control: Bridging the Gap', The 7th Mediterranean Conference on Control and Automation, Haifa, Israel (1999) [E1] 


1999 
Rodriguez JA, Goodwin GC, Romagnoli JA, 'Multiple Model Control of a Pilot Distillation Column', The 7th Mediterranean Conference on Control and Automation, Haifa, Israel (1999) [E1] 


1998 
Goodwin GC, Middleton RH, 'Advanced control applications in the steel industry', AUTOMATION IN THE STEEL INDUSTRY: CURRENT PRACTICE AND FUTURE DEVELOPMENTS, KYONGJOO, SOUTH KOREA (1998)



1998 
Goodwin GC, 'Predicting the Performance of Soft Sensors as a Route to Low Cost Automation', LCA'98 Symposium Preprints IFAC, Shenyang, P.R.China (1998) [E2] 


1998 
Brinsmead TS, Goodwin GC, 'Fault Detection: A Control Philosophy Approach to Design via Constrained Optimisation', LCA'98 Symposium Preprints IFAC, Shenyang.P.R.China (1998) [E1] 


1998 
Brinsmead TS, Goodwin GC, 'Cost of Cheap Decoupled Control', Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, USA (1998) [E1]



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



1998 
De Dona JA, Feuer A, Goodwin GC, Mayne DQ, 'A new multiswitch antiwindup scheme for linear systems with saturating actuators', Proceedings of the 37th IEEE Conference on Decision and Control., Tampa, Florida, USA. (1998) [E1]



1998 
Goodwin GC, 'Industrial Control: SetPoints for 2010', UKACC International Conference on Control'98, Swansea, UK (University of Wales) (1998) [E2] 


1997 
Gomez GI, Goodwin GC, 'Using coprime factorizations in partial decoupling of linear multivariable systems', PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 16, ALBUQUERQUE, NM (1997)



1997 
De Dona JA, Goodwin GC, Middleton RH, 'Consistent statediscretization of linear systems', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15, SAN DIEGO, CA (1997)



1997 
Brinsmead TS, Gibson JS, Goodwin GC, Lee GH, Mingori DL, 'Fault detection: A quadratic optimisation approach', PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 15, SAN DIEGO, CA (1997)



1997 
Jota FG, Goodwin GC, 'Switching control: Some stability results', Proceedings of the IEEE Conference on Decision and Control (1997)
The appeal of switching control lies in the potential for more flexible design alternatives. However, stability analysis of switching controllers without dwell times still remains... [more]
The appeal of switching control lies in the potential for more flexible design alternatives. However, stability analysis of switching controllers without dwell times still remains a largely open problem. To throw light on this issue, we will study the stability of switching control schemes for particular plants using the Popov criterion.



1997 
Feuer A, Goodwin GC, Salgado M, 'Potential benefits of hybrid control for linear time invariant plants', Proceedings of the American Control Conference (1997)
A question which has bothered control researchers for some time is whether hybrid control offers any advantage over linear control for linear plants. We show in this paper, via se... [more]
A question which has bothered control researchers for some time is whether hybrid control offers any advantage over linear control for linear plants. We show in this paper, via several examples, that hybrid control can indeed overcome certain types of limitation which are unavoidable if linear feedback control is used.



1996 
Braslavsky JH, Seron MM, Goodwin GC, Grainger RW, 'Tradeoffs in multivariable filter design with applications to fault detection', PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, KOBE, JAPAN (1996)



1995 
Goodwin GC, Seron MM, 'Complementarity constraints for nonlinear systems', NONLINEAR CONTROL SYSTEMS DESIGN 1995, VOLS 1 AND 2, TAHOE CITY, CA (1995)



1995 
Seron MM, Goodwin GC, 'Design limitations in linear filtering', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, NEW ORLEANS, LA (1995)



1995 
Gomez GI, Goodwin GC, 'Cancellations for multivariable systems: A matter of directions', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, NEW ORLEANS, LA (1995)



1995 
Gomez GI, Goodwin GC, 'Vectorial sensitivity constraints for linear multivariable systems', PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, NEW ORLEANS, LA (1995)



1995 
GRAEBE SF, GOODWIN GC, ELSLEY G, 'CONTROL DESIGN AND IMPLEMENTATION IN CONTINUOUS STEEL CASTING', IEEE CONTROL SYSTEMS MAGAZINE, IMOV STRATHCLYDE, GLASGOW, SCOTLAND (1995)



1994 
Michalska H, Mayne DQ, Goodwin GC, 'Constrained adaptive control: A differential game approach', Proceedings of the IEEE Conference on Decision and Control (1994)
In this paper we consider the problem of feedback stabilization of a linear system with hard control constraints and constant but unknown parameters. The hard control constraints ... [more]
In this paper we consider the problem of feedback stabilization of a linear system with hard control constraints and constant but unknown parameters. The hard control constraints prevent employment of conventional adaptive control techniques. The controller iteratively solves a finite horizon, openloop, optimal control problem which is stated in the form of a differential game. The resultant receding horizon strategy stabilizes the constrained linear system.



1994 
SERON MM, GRAEBE SF, GOODWIN GC, 'ALL STABILIZING CONTROLLERS, FEEDBACK LINEARIZATION AND ANTIWINDUP  A UNIFIED REVIEW', PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 13, BALTIMORE, MD (1994)



1994 
GRAEBE SF, GOODWIN GC, WEST MR, STEPIEN P, 'AN APPLICATION OF ADVANCED CONTROL TO STEEL CASTING', PROCEEDINGS OF THE THIRD IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 13, IMOV STRATHCLYDE, GLASGOW, SCOTLAND (1994)



1994 
GOODWIN GC, LEE SJ, CARLTON A, WALLACE G, 'APPLICATION OF KALMAN FILTERING TO ZINC COATING MASS ESTIMATION', PROCEEDINGS OF THE THIRD IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 13, IMOV STRATHCLYDE, GLASGOW, SCOTLAND (1994)



1993 
Salgado ME, Goodwin GC, Middleton RH, 'Constrained optimization approach to robust control', Proceedings of the IEEE Conference on Decision and Control (1993)
This paper proposes a design method to obtain robust performance in the control of linear systems with uncertainty. This is achieved by judicious use of a particular parameterizat... [more]
This paper proposes a design method to obtain robust performance in the control of linear systems with uncertainty. This is achieved by judicious use of a particular parameterization for both the controller and the uncertainty. The robustness requirement is introduced in the form of a quadratic constraint in the frequency domain. The final design is then carried out subject to this constraint and uses quadratic optimization.



1993 
GRAEBE SF, GOODWIN GC, 'ADAPTIVE PID DESIGN EXPLOITING PARTIAL PRIOR INFORMATION', ADAPTIVE SYSTEMS IN CONTROL AND SIGNAL PROCESSING 1992, GRENOBLE, FRANCE (1993) 


1993 
GRAEBE SF, GOODWIN GC, 'AN INCREMENTAL ESTIMATION TECHNIQUE FOR PREDICTING A BANDWIDTH OF ROBUST PERFORMANCE', PROCEEDINGS OF THE 32ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, SAN ANTONIO, TX (1993)



1992 
Ninness BM, Goodwin GC, 'Improving the power of fault testing using reduced order models', Singapore International Conference on Intelligent Control and Instrumentation  Proceedings (1992)
In this paper we consider situations in wliicli model based analytical redundancy is to be used to detect faults via a NeymanPearson approach to hypothesis testing. In [3] we exa... [more]
In this paper we consider situations in wliicli model based analytical redundancy is to be used to detect faults via a NeymanPearson approach to hypothesis testing. In [3] we examined how the statistical power of tlie resultant test statistic could be improved via the use of reduced order models. Here we extend the work to cover tlie effect of static nonli nearities by using a stocliastic embedding approacli. We complete tlie paper by showing how the proposed algorithm can be inipleniented recursively for on line applications and present some simulation examples to illustrate the superiority of the new algorithm over more conventional techniques.



1992 
Morse AS, Mayne DQ, Goodwin GC, 'Applications of hysteresis switching in parameter adaptive control', Proceedings of the IEEE Conference on Decision and Control (1992)
The authors demonstrate the usefulness of hysteresis switching in a broader context than previously considered. This has been done by applying the switching algorithm to a number ... [more]
The authors demonstrate the usefulness of hysteresis switching in a broader context than previously considered. This has been done by applying the switching algorithm to a number of specially structured families of identifierbased parameterized controllers of both the direct and indirect control types. Application to the former results in a model reference adaptive controller capable of stabilizing, without the persistent excitation, any single input, single output (SISO) process which can be modeled by a minimumphase linear system whose transfer function has relative and McMillam degrees not exceeding prescribed integers m and n respectively. It is shown that such processes can also be adaptively stabilized with indirect adaptive controllers and hysteresis switching. An example is used to illustrate how hysteresis switching might be applied to implicitly tuned parameterized controllers to realize an adaptive controller with capabilities which, without switching, might be impossible to achieve.



1992 
Godfrey N, Goodwin GC, Graebe SF, Stepien P, West M, Wylie T, 'Adaptive controller for industrial needs', National Conference Publication  Institution of Engineers, Australia (1992)
Advanced control holds important potential for improving industrial productivity, product quality and safety. In order for such methods to be a feasible option for competitive com... [more]
Advanced control holds important potential for improving industrial productivity, product quality and safety. In order for such methods to be a feasible option for competitive companies, several conditions must be satisfied. Firstly, time and effort from design and simulation to implementation must be minimal; secondly, the implementation must support relevant safety features; and thirdly, the implemented algorithm ought to be selected according to industrial reality rather than mathematical elegance. In this paper we report ongoing work to develop an integrated analysis, design and implementation toolbox that meets these conditions. The paper covers the basic structure of the toolbox, and other issues such as PID design, online estimation, estimation with partial prior information, event triggered adaptive control and illustrative applications.



1992 
GOODWIN GC, NINNESS B, POOR V, 'CHOICE OF BASIS FUNCTIONS FOR CONTINUOUS AND DISCRETE SYSTEM MODELING', IDENTIFICATION AND SYSTEM PARAMETER ESTIMATION 1991, VOLS 1 AND 2, BUDAPEST, HUNGARY (1992)



1992 
WELLER SR, GOODWIN GC, 'HYSTERESIS SWITCHING ADAPTIVECONTROL OF LINEARMULTIVARIABLE SYSTEMS', PROCEEDINGS OF THE 31ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 14, TUCSON, AZ (1992)



1991 
Leon de la Barra BA, Goodwin GC, 'Open unit disk zeros of scalar stable discrete time transfer functions: Implications for feedback design', Proceedings of the IEEE Conference on Decision and Control (1991)
The authors investigate the way in which open unit disk zeros of a scalar stable discretetime transfer function influence overshoot in the timedomain step response. Feedback des... [more]
The authors investigate the way in which open unit disk zeros of a scalar stable discretetime transfer function influence overshoot in the timedomain step response. Feedback design implications are discussed and illustrated by a simple example.



1991 
Goodwin GC, Ninness B, 'Model error quantification for robust control based on quasiBayesian estimation in closed loop', Proceedings of the American Control Conference (1991)
A procedure for quantifying the errors in the estimation of the parameters of systems described by ARMAX models when operating in closed loop is presented. The authors include sto... [more]
A procedure for quantifying the errors in the estimation of the parameters of systems described by ARMAX models when operating in closed loop is presented. The authors include stochastic disturbances on the output and consider the case where the true open loop plant is not a member of the chosen set of identifier models. This latter problem is dealt with by considering the impulse response of the undermodeling to be a particular realization of a random vector with known characteristics but unknown parameters. It is shown how the parameters which characterize the undermodeling may be estimated from the data using maximum likelihood methods.



1991 
Kwon OK, Goodwin GC, 'Fault detection method for uncertain systems with unmodelled dynamics, linearization errors and noisy inputs', IFAC Symposia Series  Proceedings of a Triennial World Congress (1991)
This paper deals with the fault detection problem in uncertain linear/nonlinear systems having both undermodelling and noisy inputs. A fault detection method is presented which ac... [more]
This paper deals with the fault detection problem in uncertain linear/nonlinear systems having both undermodelling and noisy inputs. A fault detection method is presented which accounts for the effects of noise, model mismatch and nonlinearities. The basic idea is to embed the unmodelled dynamics in a stochastic process and to use the nominal model with a predetermined fixed denominator. This allows the system parameters to be estimated using ordinary least squares and also facilitates the quantification of the effect of model mismatch and linearization on parameter estimation. Comparisons are made with alternative fault detection methods which do not account for model mismatch or linearization errors. The new method is shown to have vastly superior performance on a number of simulated systems. This improvement is a consequence of the fact that the new method explicitly accounts for the effects of undermodelling and linearization errors in nonlinear systems.



1991 
Barros PR, Mareels IMY, Goodwin GC, 'Local averaging analysis of the incremental pole placement adaptive controller', IFAC Symposia Series  Proceedings of a Triennial World Congress (1991)
Incremental pole placement is an adaptive control algorithm based on the pole placement, indirect adaptive control approach. It differs from the classical algorithm in that '... [more]
Incremental pole placement is an adaptive control algorithm based on the pole placement, indirect adaptive control approach. It differs from the classical algorithm in that 'the closed loop poles' are estimated directly, together with the plant poles and zeros. The deviation between the obtained 'closed loop poles' and the desired ones is instrumental in the update mechanisms. Cautious control is implemented naturally as the control update and estimation algorithm are highly decoupled. This paper addresses the overall performance problem. A local analysis is presented using averaging theory. The results of this analysis suggest some non trivial modifications to improve the performance.



1991 
Fernandes JM, de Souza CE, Goodwin GC, 'Novel techniques for the design of robust state estimators', IFAC Symposia Series  Proceedings of a Triennial World Congress (1991)
We present a characterization of the class of all stable unbiased observers of the state of linear dynamic systems. This characterization is parameterized by a single stable trans... [more]
We present a characterization of the class of all stable unbiased observers of the state of linear dynamic systems. This characterization is parameterized by a single stable transfer function and the state estimation error is shown to be an affine function of this transfer function. Based on this characterization, we show how different optimization criteria can be employed to design filters which are optimal with respect to various criteria. In particular we address L , L and L optimization procedures. The techniques are illustrated by a specific example. For this example, a variety of optimal filters are derived corresponding to L , L and L optimization as well as various combinations of these criteria. We argue that, depending upon the assumptions one makes about the noise and disturbances, these filters have advantages over the commonly used L criterion filters. 1 2 8 1 2 8 2



1991 
GOODWIN G, GEVERS M, NINNESS B, 'OPTIMALMODEL ORDER SELECTION AND ESTIMATION OF MODEL UNCERTAINTY FOR IDENTIFICATION WITH FINITE DATA', PROCEEDINGS OF THE 30TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 13, BRIGHTON, ENGLAND (1991)



1991 
FEUER A, WELLER SR, GOODWIN GC, 'INTERRELATIONS BETWEEN CONTINUOUS AND DISCRETE LATTICE FILTER STRUCTURES', PROCEEDINGS OF THE 30TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 13, BRIGHTON, ENGLAND (1991)



1990 
Merrington G, Kwon OK, Goodwin G, Carlsson B, 'Fault detection and diagnosis in gas turbines', Proceedings of the ASME Turbo Expo (1990)
Modem military aircraft are fitted with Engine Monitoring Systems (EMS) which have the potential to provide maintenance personnel with valuable information for diagnosing engine f... [more]
Modem military aircraft are fitted with Engine Monitoring Systems (EMS) which have the potential to provide maintenance personnel with valuable information for diagnosing engine faults and assessing engine condition. In this study, analytical redundancy methods have been applied to gas turbine engine transient data with the view to extracting the desired fault information. The basic idea is to use mathematical models to interrelate the measured variables and then monitor the effects of fault conditions on the new estimates of the model parameters. In most of the existing literature the models used are asumed to be perfect with the primary source of error arising from the measurement noise. In the technique to be described, a new method of quantifying the effects of changes in the operating conditions is presented when simplified models are employed. The technique accounts for under modelling effects and errors arising from lineariztion of an inherently nonlinear system. Results obtained show a marked improvement over those obtained with traditional methods.



1990 
Turan L, Mingori DL, Goodwin GC, 'Loop transfer recovery design using biased and unbiased controllers', Proceedings of the IEEE Conference on Decision and Control (1990)
It is argued that an unbiasedness constraint is not a requirement for effective loop transfer recovery (LTR). Controller design procedures are formulated which do not have this re... [more]
It is argued that an unbiasedness constraint is not a requirement for effective loop transfer recovery (LTR). Controller design procedures are formulated which do not have this restriction and which permit the substitution of other relationships which can assist in the synthesis of the controller. These procedures offer the designer additional freedom in the synthesis of feedback controllers. In particular, they allow the synthesis of either unbiased or biased controllers in a framework that is more general than that offered by standard linear quadratic Gaussian (LQG)/LTR. Application to a simple nonminimum phase example shows that the additional flexibility offered by the methods discussed here is useful for shaping sensitivity functions. While reflecting the fundamental limitations inherent in all feedback systems, the results obtained compare more than favorably with LQG/LTR designs.



1990 
Lee LH, Goodwin G, Kolodziej W, 'Interconnections between continuous and discrete games with applications to H
This study establishes some interesting interconnections between continuous and discretetime H problems. The approach highlights the similarities and differences and reveals th... [more]
This study establishes some interesting interconnections between continuous and discretetime H problems. The approach highlights the similarities and differences and reveals that the discretetime problem has a significantly richer structure. Also, all continuoustime results given here can be obtained from the (more complex) discretetime results by letting ¿ = 0. This fact is a consequence of the formulation of the discrete case using the unified approach to the H disturbance rejection problem, set up in the framework of linear quadratic game theory. 0 8



1990 
Merrington G, Kwon OK, Goodwin G, Carlsson B, 'Fault detection and diagnosis in gas turbines', American Society of Mechanical Engineers (Paper) (1990)
Modern military aircraft are fitted with Engine Monitoring Systems (EMS) which have the potential to provide maintenance personnel with valuable information for diagnosing engine ... [more]
Modern military aircraft are fitted with Engine Monitoring Systems (EMS) which have the potential to provide maintenance personnel with valuable information for diagnosing engine faults and assessing engine condition. In this study, analytical redundancy methods have been applied to gas turbine engine transient data with the view to extracting the desired fault information. The basic idea is to use mathematical models to interrelate the measured variables and then monitor the effects of fault conditions on the new estimates of the model parameters. In most of the existing literature the models used are assumed to be perfect with the primary source of error arising from the measurement noise. In the technique to be described, a new method of quantifying the effects of changes in the operating conditions is presented when simplified models are employed. The technique accounts for undermodelling effects and errors arising from linearization of an inherently nonlinear system. Results obtained show a marked improvement over those obtained with traditional methods.



1990 
SALGADO ME, NINNESS B, GOODWIN GC, 'APPROXIMATE IDENTIFICATION OF LINEAR STOCHASTICSYSTEMS', PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 16, HONOLULU, HI (1990)



1989 
Wertz V, Goodwin GC, HanFu C, Gevers M, 'Unification of discrete and continuous time stochastic adaptive control algorithms', IFAC Proceedings Series (1989)
We present a formulation of a continuous time stochastic adaptive control algorithm and explore the relationship with classical continuous time deterministic schemes and with disc... [more]
We present a formulation of a continuous time stochastic adaptive control algorithm and explore the relationship with classical continuous time deterministic schemes and with discrete time stochastic adaptive control algorithms. We give a complete global stability theory and highlight the technical difficulties which arise in the continuous time stochastic case. As in deterministic systems, a central issue is that of the relative degree of the system inputoutput transfer function. Up to now, the only known 'solutions' treat the case of relative degree zero. The direct extension of these results to large relative degrees seems difficult. This paper gives a solution to the problem.



1989 
Barros PR, de Souza CE, Goodwin GC, 'Adaptive controller based on output error estimation method', IFAC Proceedings Series (1989)
This paper presents a robust adaptive control algorithm for linear timeinvariant systems based on an output error estimation method. The parameterization adopted renders the outp... [more]
This paper presents a robust adaptive control algorithm for linear timeinvariant systems based on an output error estimation method. The parameterization adopted renders the output error linear in the parameters and no positive real condition is needed. The convergence of the algorithm is investigated and the inputoutput stability of the controlled system in the presence of unmodelled dynamics and of disturbances, is established. Simulation results are also presented comparing the performance of the proposed algorithm with that of an adaptive controller with the same control law but based on an equation error estimation method.



1988 
Palaniswami M, Goodwin GC, 'Disturbance rejection in adaptive control of industrial processes', Proceedings  IECON 1988: Control and Simulation  1988 International Conference on Industrial Electronics (1988)
It is shown that a suitably constructed filter derived from models for sinusoidal disturbances can filter out deterministic periodic disturbances from inputoutput data and the fi... [more]
It is shown that a suitably constructed filter derived from models for sinusoidal disturbances can filter out deterministic periodic disturbances from inputoutput data and the filtered data can be used to arrive at unbiased estimation of the transfer function models for industrial processes. A relaxation type algorithm is proposed to estimate the model for the disturbance and for the transfer function of the system. An adaptive version of the internal model principle with pole assignment algorithm is shown to reject the periodic disturbances asymptotically. A number of simulated examples are provided to support the proposed algorithm.



1988 
Gevers M, Wertz V, Goodwin GC, 'Parameter estimation algorithm for continuous time stochastic adaptive control', Proceedings of the IEEE Conference on Decision and Control (1988)
An adaptive parameter estimator for continuoustime stochastic systems which results in globally stable adaptive control algorithms is presented. The analysis method is inspired b... [more]
An adaptive parameter estimator for continuoustime stochastic systems which results in globally stable adaptive control algorithms is presented. The analysis method is inspired by G. C. Goodwin and D. Q. Mayne (1987) in that properties of the parameter estimator are established that hold irrespective of the control law. Compared with comparable discretetime schemes, the success of the algorithm hinges crucially on a modification of the parameter update law which ensures that the normalized regression vector remains uniformly bounded.



1988 
Kinnaert M, Goodwin GC, 'Dynamic state feedback decoupling with stability', Proceedings of the IEEE Conference on Decision and Control (1988)
A method for designing a dynamic state feedback compensator so as to achieve decoupling of a stable square linear multivariable system is presented. The stability of the resulting... [more]
A method for designing a dynamic state feedback compensator so as to achieve decoupling of a stable square linear multivariable system is presented. The stability of the resulting closedloop system is established. The computations are conducted entirely in statespace form, contrary to other existing algorithms for dynamic state feedback decoupling. Thus, when the initial system is given in statespace form, the algorithm will not require any conversion from transfer function to state space, and vice versa, which is quite involved for MIMO systems.



1988 
Goodwin GC, Salgado ME, Middleton RH, 'Indirect adaptive control: An integrated approach.', Proceedings of the American Control Conference (1988)
A key feature of the approach presented is the separate optimization of procedures for estimation and online control law synthesis. Regarding the estimation module, attention is g... [more]
A key feature of the approach presented is the separate optimization of procedures for estimation and online control law synthesis. Regarding the estimation module, attention is given to such features as data filtering, the response of the estimator, techniques for handling unmodeled dynamics and the question of numerical accuracy. Regarding the control law synthesis module, attention is given to robustness to unstructured modeling errors, disturbance and setpoint feedforward techniques and implementation issues. The performance is illustrated by reference to a case study.



1986 
Edwards WJ, Goodwin GC, Thomas PJ, 'MULTIROLL ECCENTRICITY CONTROLLER FOR STRIP ROLLING MILLS.', National Conference Publication  Institution of Engineers, Australia (1986)
This paper describes an improved strip thickness controller design for a metal strip rolling mill with two workrolls supported by larger diameter backuprolls. The strategy is ba... [more]
This paper describes an improved strip thickness controller design for a metal strip rolling mill with two workrolls supported by larger diameter backuprolls. The strategy is based on a model which represents the effects of multiple roll eccentricities, the plastic deformation process and elastic strains in the mill stand components. The strategy overcomes many difficulties inherent in earlier approaches. An important feature of the design is its ability to track multiple roll induced eccentricity disturbances whose waveforms change with time. The feedback controller compensates for force, mill dependent parameters and for the inherently nonlinear response of the force adjusting mechanism. Simulation studies are presented showing the advantages of the new design and its insensitivity to plant parameter variations. The system has modest computation requirements and has been implemented on a modern, computercontrolled, five stand tandem cold mill.



1986 
Goodwin GC, Hill DJ, Mayne DQ, Middleton RH, 'ADAPTIVE ROBUST CONTROL (CONVERGENCE, STABILITY AND PERFORMANCE).', Proceedings of the IEEE Conference on Decision and Control (1986)
The authors show that a robust adaptive controller can be developed which stabilizes all members of a wide class of systems. The class of systems includes those having significant... [more]
The authors show that a robust adaptive controller can be developed which stabilizes all members of a wide class of systems. The class of systems includes those having significant unmodeled dynamics and nonminimum phase characteristics. The theoretical results are supported by experimental evidence of the claimed robustness properties. The success of the algorithm is a result of the amalgamation of various techniques including regression vector filtering, pole assignment, estimator deadzone, least squares and internal model principle.



1986 
Middleton RH, Goodwin GC, 'ADAPTIVE COMPUTED TORQUE CONTROL FOR RIGID LINK MANIPULATORS.', Proceedings of the IEEE Conference on Decision and Control (1986)
The adaptive control of rigid link manipulator systems is examined. A parameterization of a general rigid body which yields dynamic equations that are linear in the unknown parame... [more]
The adaptive control of rigid link manipulator systems is examined. A parameterization of a general rigid body which yields dynamic equations that are linear in the unknown parameter is given. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.



1985 
de Souza CE, Goodwin GC, Siew Wah Chan, 'OPTIMAL FILTERING OF NONSTABILIZABLE SYSTEMS HAVING SINGULAR STATE TRANSITION MATRICES.', IFAC Proceedings Series (1985)
It is generally believed that a necessary and sufficient condition for convergence of the riccati difference equation of optimal filtering is that the system be both detectable an... [more]
It is generally believed that a necessary and sufficient condition for convergence of the riccati difference equation of optimal filtering is that the system be both detectable and stabilizable. In this paper we describe new results on optimal filtering which show that the stabilizability condition can be removed. The results have many potential applications including the determination of optimal filters for systems having only measurement noise and for systems having sinusoidal disturbances. Special emphasis is given in the paper to systems having a singular state transition matrix. This represents a significant generalization of earlier work and means that the results apply to new classes of problems including those arising from fixedlag smoothing.



1984 
Goodwin GC, Teoh EK, 'ADAPTIVE CONTROL OF A CLASS OF LINEAR TIME VARYING SYSTEMS.' (1984)



1984 
Goodwin GC, Dugard L, 'STOCHASTIC ADAPTIVE CONTROL WITH KNOWN AND UNKNOWN INTERACTOR MATRICES.' (1984)



1984 
Elliott H, Goodwin GC, 'ADAPTIVE IMPLEMENTATION OF THE INTERNAL MODEL PRINCIPLE.', Proceedings of the IEEE Conference on Decision and Control (1984)
A new algorithm for discrete time adaptive pole assignment is considered which incorporates the internal model principle and hence allows for rejection of deterministically modele... [more]
A new algorithm for discrete time adaptive pole assignment is considered which incorporates the internal model principle and hence allows for rejection of deterministically modeled disturbances and tracking of simple references signals. A complete global stability analysis is given. 6 refs.



1984 
Elliott H, Goodwin GC, Das M, 'ROBUSTNESS OF ADAPTIVE POLE PLACEMENT IN THE PRESENCE OF BOUNDED DISTURBANCES.', Proceedings of the IEEE Conference on Decision and Control (1984)
Two recent reports (H. Elliott et al. , 1983; G. C. Goodwin and E. K. Teoh, 1983) analyzed adaptive pole placement algorithms. They showed that if the external reference was persi... [more]
Two recent reports (H. Elliott et al. , 1983; G. C. Goodwin and E. K. Teoh, 1983) analyzed adaptive pole placement algorithms. They showed that if the external reference was persistently exciting in the sense that it contained a sufficient number of sinewaves, and if the adjustable controller parameters were held constant over blocks of time, then such algorithms were globally stable. This analysis was done in the ideal noise free case. It is pointed out here that these algorithms are also robust in the sense that stability can be assured even in the presence of low levels of input and output disturbances. The key idea in the proofs by Elliott et al. and Goodwin and Teoh was to show that the parameter estimation scheme generated convergent parameter estimates even in the presence of possibly unbounded inputoutput data. It is shown that this will still be the case even if this inputoutput data are corrupted by noise.



1983 
Evans RJ, Cantoni A, Goodwin GC, Cook BJ, 'ADAPTIVE SYSTEMS: CURRENT STATUS AND FUTURE IMPLICATIONS.', National Conference Publication  Institution of Engineers, Australia (1983) 


1983 
Dugard L, Goodwin GC, de Souza CE, 'PRIOR KNOWLEDGE IN MODEL REFERENCE ADAPTIVE CONTROL OF MULTIINPUT MULTIOUTPUT SYSTEMS.', Proceedings of the IEEE Conference on Decision and Control (1983)



1983 
de Souza CE, Goodwin GC, 'ROBUSTNESS EFFECTS OF SAMPLING IN MODEL REFERENCE AND MINIMUM VARIANCE CONTROL.', Proceedings of the IEEE Conference on Decision and Control (1983)



1983 
Goodwin GC, 'EXPERIMENT DESIGN.' (1983)



1982 
Goodwin GC, 'ADAPTIVE CONTROL  A NOVEL APPROACH TO CONTROL SYSTEM DESIGN.', National Conference Publication  Institution of Engineers, Australia (1982) 


1982 
Johnson CR, Goodwin GC, 'ROBUSTNESS ISSUES IN ADAPTIVE CONTROL.', Proceedings of the IEEE Conference on Decision and Control (1982)



1982 
Cahn SW, Goodwin GC, Sin KS, 'CONVERGENCE AND PROPERTIES OF THE SOLUTIONS OF THE RICATTI DIFFERENCE EQUATION.', Proceedings of the IEEE Conference on Decision and Control (1982)



1982 
Goodwin GC, McInnis BC, Wang JC, 'MODEL REFERENCE ADAPTIVE CONTROL FOR SYSTEMS HAVING NONSQUARE TRANSFER FUNCTIONS.', Proceedings of the IEEE Conference on Decision and Control (1982)



1982 
McInnis BC, Wang JC, Goodwin GC, 'ADAPTIVE CONTROL SYSTEM FOR THE ARTIFICIAL HEART.', IEEE/Engineering in Medicine and Biology Society Annual Conference (1982)



1974 
Godfrey KR, Goodwin GC, 'IndustryUniversity confrontation on process identification', Automatica (1974)


