Bode Lecture

The Role of Theory in Control Practice

Lecture Details

Date:

2010

Location Information:

IEEE 2010 CDC Bode Lecture

Author:

Manfred Morari

Author Bio:

Manfred Morari was appointed head of the Department of Information Technology and Electrical Engineering at ETH Zurich in 2009. He was head of the Automatic Control Laboratory from 1994 to 2008. Before that he was the McCollum-Corcoran Professor of Chemical Engineering and Executive Officer for Control and Dynamical Systems at the California Institute of Technology. He obtained a diploma from ETH Zurich and a Ph.D. from the University of Minnesota, both in chemical engineering. His interests are in hybrid systems and the control of biomedical systems. In recognition of his research contributions he received numerous awards, among them the Donald P. Eckman Award and the John R. Ragazzini Award of the Automatic Control Council, the Allan P. Colburn Award and the Professional Progress Award of the AIChE, the Curtis W. McGraw Research Award of the ASEE, Doctor Honoris Causa from Babes-Bolyai University, Fellow of IEEE, the IEEE Control Systems Field Award, and was elected to the National Academy of Engineering (U.S.). Manfred Morari has held appointments with Exxon and ICI plc and serves on the technical advisory boards of several major corporations.

Abstract:

Twenty years ago I delivered a plenary lecture with the same title at the ACC in Boston. I will go back and reflect on the successes and failures, on what we have learned and which problems remain open. The focus will be on robust and constrained control and the real time implementation of control algorithms. I will comment on the progress we have made on the control of hybrid systems and how our vastly more powerful computational resources have affected the design tools we have at our disposal. Throughout the lecture, industrial examples from the automotive and power electronics domains and the industrial energy sector will illustrate the arguments.

Controller Design: Getting from Theory to Practice

Lecture Details

Date:

1992

Location Information:

31st IEEE Conference on Decision and Control, Tucson, AZ, December 1992

Author:

Brian Anderson

Author Bio:

Brian D.O. Anderson was born in Sydney, Australia, and received hisundergraduate education at the University of Sydney and PhD at Stanford University. Following completion of his education, he workedin industry in Silicon Valley and served as an Assistant Professor inthe Department of Electrical Engineering at Stanford. He wasFoundation Professor of Electrical Engineering at the University ofNewcastle, Australia, from 1967 until 1981 and is now Professor ofSystems Engineering at the Australian National University. Hisinterests are in control and signal processing. He is a Fellow of theRoyal Society, the Australian Academy of Science, the AustralianAcademy of Technological Sciences and Engineering, and the Instituteof Electrical and Electronic Engineers, and an Honorary Fellow of theInstitution of Engineers, Australia. He holds a doctorate (honoriscausa) from the Universite Catholique de Louvain, Belgium. He isserving a term as President of the International Federation ofAutomatic Control from 1990 to 1993.

Abstract:

Modern controller design packages often fall short of offering what is truly practical: low order controllers, discrete-time controllers operating in a sampled-data loop, and finite word length realizations of controllers with the FWL property minimally impacting closed-loop performance. The lecture describes how to achieve these objectives.

Support Files

Other:

An article based on Brian Anderson's Bode Lecture was published in IEEE Control Systems Magazine in August 2003 and is available on IEEE Xplore at http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=229554

The ISS Philosophy as a Unifying Framework for Stability-Like Behavior

Lecture Details

Date:

2002

Location Information:

2002 Bode Prize Lecture

Author:

Eduardo D. Sontag

Support Files

PDF Slides:

bode-with-narrative.pdf

Games, Decisions, and Control: Fifty Years Back, Fifty Years Forward

Lecture Details

Date:

2004

Location Information:

2004 Bode Prize Lecture, The Bahamas, December 2004

Author:

Tamer Basar

Author Bio:

Tamer Basar is the Fredric G. and Elizabeth H. Nearing Professor of Electrical and Computer Engineering at the University of Illinois at Urbana-Champaign (UIUC). He received BSEE from Robert College, Istanbul, in 1969, and the M.S., M.Phil, and Ph.D. from Yale University, during 1970-2. After stints at Harvard University and Marmara Research Institute (Gebze, Turkey), he joined UIUC in 1981, where he has been since then with the ECE Department and the Coordinated Science Lab. He has authored or co-authored over 400 publications (including two books and several edited volumes) in the general areas of systems, control, dynamic games, information theory, communication systems and networks, and mathematical economics. He was elected Fellow of IEEE in 1983, and served CSS in various capacities, such as: President (2000), Editor for Techn. Notes & Corresp. for TAC (1992-4), and CDC General Chair (1992) and Program Chair (1989). He is currently the Editor-in-Chief of Automatica, the Editor of the Birkhäuser Series: Systems & Control: Foundations & Applications, Managing Editor of the Annals of the International Society of Dynamic Games, and member of editorial and advisory boards of several international journals in control, wireless networks, and applied mathematics. Among some of his recent recognitions are: Tau Beta Pi Drucker Eminent Faculty Award of UIUC (2004), election to the National Academy of Engineering (2000), IEEE Millennium Medal (2000), Axelby Outstanding Paper Award (1995) and Distinguished Member Award (1993) of CSS, and Medal of Science of Turkey (1993). He will also receive the Quazza Medal of IFAC in 2005. His current research interests are in routing, pricing, and congestion control in communication networks; control over wired and wireless networks; mobile computing; and robust and risk-sensitive estimation and control.

Abstract:

Fifty years ago, when control was emerging as a scientific discipline fueled by developments in dynamic, recursive decision making, dynamical systems and stability theory, a separate discipline, differential games, was being born in response to the need to develop a framework and associated solution tools for strategic dynamic decision making in adversarial environments, as an outgrowth of game theory. The evolution of the two disciplines-control theory, and particularly optimal control, and the theory of differential games-initially followed somewhat different paths, but soon a healthy interaction between the two developed. Differential games, in both zero-sum and nonzero-sum settings, enabled the embedding of control into a broader picture and framework, and enriched the set of conceptual tools available to it. One of its essential ingredients-information structures (who knows what and when)-became a mainstay in control research, particularly in the context of large-scale systems. In the other direction, the rich set of mathematical tools developed for control, such as viscosity solutions, directly impacted progress in solvability of differential games. Such interactions between the two disciplines reached a climax when robustness became a prevalent issue in control, leading among others to a comprehensive treatment of H¥ control of both linear and nonlinear uncertain systems.

This Bode Lecture will dwell on the parallel developments in the two fields to the extent they influenced each other over the past half century, talk about the present, and embark on a journey into the future.

Support Files

PDF Slides:

TamerBasar_BodeSlides-121704.pdf

Finesse et Géométrie

Lecture Details

Date:

2001

Location Information:

2001 Bode Prize Lecture

Author:

Alberto Isidori

Support Files

PDF Slides:

bode-2001.pdf

Mean Field Stochastic Control

Lecture Details

Date:

2009

Location Information:

48th IEEE Conference on Decision and Control, Shanghai, China, Dec. 2009

Author:

Peter E. Caines

Author Bio:

Peter Caines received the BA in mathematics from Oxford University in 1967 and the PhD in systems and control theory in 1970 from Imperial College, University of London, where his supervisor was D. Q. Mayne, FRS. After periods as a postdoctoral researcher and faculty member at UMIST, Stanford, UC Berkeley, Toronto and Harvard, he joined McGill University, Montreal, in 1980, where he is James McGill Professor and Macdonald Chair in the Department of Electrical and Computer Engineering.

Peter Caines is a Fellow of the IEEE, SIAM and the Canadian Institute for Advanced Research, and was elected to the Royal Society of Canada in 2003. In 2000 the adaptive control paper he coauthored with G. C. Goodwin and P. J. Ramadge (IEEE Transactions on Automatic Control, 1980) was recognized by the IEEE Control Systems Society as one of the 25 seminal control theory papers of the 20th century. Peter Caines has served as an Associate Editor of the IEEE Transactions on Automatic Control, the IEEE Transactions on Information Thoory and the SIAM Journal on Control and Optimization; during 1992 - 95 he served on the Board of Governors of the IEEE Control Systems Society, was a Member of the Scientific Advisory Board of the Max Plank Society, 2002 - 2007 and the EU HYCON Review Committee, 2005 - 2007. Peter Caines is the author of Linear Stochastic Systems, John Wiley, 1988, and is the co-editor of several volumes of papers on stochastic systems. His research interests include the areas of system identification, adaptive control, logic control and discrete event systems. Recently his activities have focused on hybrid systems theory, and stochastic multi-agent and distributed systems theory, together with their links to physics, economics and biology.

Abstract:

This talk presents the Mean Field (or Nash Certainty Equivalence (NCE)) methodology initiated with Min-Yi Huang and Roland Malhamé for the analysis and control of large population stochastic dynamic systems. Optimal control problems for multi-agent stochastic systems, in particular those with non-classical information patterns and those with intrinsic competitive behavior, are in general intractable. Inspired by mean field approximations in statistical mechanics, we analyse the common situation where the dynamics and rewards of any given agent are influenced by certain averages of the mass multi-agent behavior. The basic result is that classes of such systems possess game theoretic (Nash) equilibria wherein each agent employs feedback control laws depending upon both its local state and the collectively generated mass effect. In the infinite population limit the agents become statistically independent, a phenomenon related to the propagation of chaos in mathematical physics.

Explicit solutions in the linear quadratic Gaussian (LQG) - NCE case generalize classical LQG control to the massive multi-agent situation, while extensions of the Mean Field notion enable one to analyze a range of problems in systems and control. Specifically, generalizations to nonlinear problems may be expressed in terms of controlled McKean-Vlasov Markov processes, while localized (or weighted) mean field extensions, the effect of possible major players and adaptive control generalizations permit applications to microeconomics, biology and communications; furthermore, the standard equations of consensus theory, which are of relevance to flocking behavior in artificial and biological systems, have been shown to be derivable from the basic LQG - NCE equations. In the distinct point process setting, the Mean Field formulation yields call admission control laws which realize competitive equilibria for complex communication networks.

In this talk we shall motivate the Mean Field approach to stochastic control, survey the current results in the area by various research groups and make connections to physics, biology and economics.

This talk presents joint work with Minyi Huang and Roland Malhamé, and Arman Kizilkale, Arthur Lazarte, Zhongjing Ma and Mojtaba Nourian.

Support Files

PDF Slides:

Caines.pdf

Respect the Unstable

Lecture Details

Date:

1989

Location Information:

Inaugural Bode Prize Lecture, Tampa, Florida, December 1989

Author:

Dr. Gunter Stein

Author Bio:

(This biosketch is from the article cited below.)

Gunter Stein is a chief scientist (retired) of Honeywell Labs. He received a Ph.D. in electrical engineering from Purdue University in1969. His technical specialization is in systems and control, particularly aircraft flight controls (fighters, transports, and experimental vehicles), spacecraft attitude and orbit controls, and navigation systems for strategic, tactical, and commercial applications. From 1977 to 1997, he also served as adjunct professor in electrical engineering and computer science at MIT, teaching control systems theory and design. He is also active in the development of computer aids for control system design. He was elected Fellow of the IEEE in 1985, awarded the IEEE Control System Society’s first Hendrik W. Bode Prize in 1989, elected to the National Academy of Engineering in 1994, and was awarded the IFAC’s Nathaniel Nichols Prize in 1999.

Abstract:

An understanding of fundamental limitations is an essential element in all engineering. Shannon’s early results on channel capacity have always had center court in signal processing. Strangely, the early results of Bode were not accorded the same attention in control. It was therefore highly appropriate that the IEEE Control Systems Society created the Bode Lecture Award, an honor which also came with the duty of delivering a lecture. Gunter Stein gave the first Hendrik W. Bode Lecture at the IEEE Conference on Decision and Control in Tampa, Florida, in December 1989. In his lecture he focused on Bode’s important observation that there are fundamental limitations on the achievable sensitivity function expressed by Bode’s integral. Gunter has a unique position in the controls community because he combines the insight derived from a large number of industrial applications at Honeywell with long experience as an influential adjunct professor at the Massachusetts Institute of Technology from 1977 to 1996. In his lecture, Gunter also emphasized the importance of the interaction between instability and saturating actuators and the consequences of the fact that control is becoming increasingly mission critical.

After more than 13 years I still remember Gunter’s superb lecture. I also remember comments from young control scientists who had been brought up on state-space theory who said: “I believed that controllability and observability were the only things that mattered.” At Lund University we made Gunter’s lecture a key part of all courses in control system design. Gunter was brought into the classroom via videotapes published by the IEEE Control Systems Society and the written lecture notes. It was a real drawback that the lecture was not available in more archival form. I am therefore delighted that IEEE Control Systems Magazine is publishing this article. I sincerely hope that this will be followed by a DVD version of the videotape. The lecture is like really good wine; it ages superbly.

—Karl J Åström, Professor Emeritus, Lund University, Lund, Sweden (2003)

Support Files:
An article based on Gunter Stein’s Bode Lecture was published in Control Systems Magazine in August 2003 and is available on IEEE Xplore at http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1213600&isnumber....

(This introduction is from the article cited above.)