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Papers by Grand Hotel
July 24, 2007 Please attend WTP's 21st Annual 2007 Employment Law Update Seminar Wednesday, O... more July 24, 2007 Please attend WTP's 21st Annual 2007 Employment Law Update Seminar Wednesday, October 10th Tremont Grand Hotel 225 N. Charles Street, Baltimore MD 8:30 am 3:15 pm You are cordially invited to an all-day seminar dedicated exclusively to employment-related issues and concerns for our clients and friends of the firm. The workshop format allows you to learn from WTP attorneys and your peers. We hope that you will be able to join us for this educational and informative day. Guest Speaker: J. Ronald DeJuliis, Maryland Commissioner of Labor & Industry Workshop Schedule 8:30 9:00 a.m. Registration and Continental Breakfast
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
In this paper, we analyse the optimal quantization of signals for parameter estimation under cons... more In this paper, we analyse the optimal quantization of signals for parameter estimation under constraints on admissible error bounds. We deal with simple FIR models where the input is a stochastic variable of uniform distribution. Then, we consider to derive the optimal memoryless quantization schemes for the output signals, which maximize the probability that the hard bounds of the estimated
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
... IV. THE QUALITATIVE THEORY OF DECENTRALIZED CONTROL OF RIGID FORMATION MOTIONS We now return ... more ... IV. THE QUALITATIVE THEORY OF DECENTRALIZED CONTROL OF RIGID FORMATION MOTIONS We now return to the general case and consider rigid formations of n (n > 3) robot agents. ... Given the symmetry about the critical line of the leader and first follower, there are ...
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
We consider the problem of stochastic control under power constraints. Problems such as linear qu... more We consider the problem of stochastic control under power constraints. Problems such as linear quadratic optimal control with information constraints are instances of the problem considered. The calculations of the optimal control law can be done off-line as in the classical linear quadratic Gaussian control theory using dynamic programming, which turns out to be a special case of the new theory developed in this paper.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
While classical models of risk in insurance and financial markets have been effectively treated b... more While classical models of risk in insurance and financial markets have been effectively treated by the methods of stochastic and adaptive processes, a wide variety of new technologies will require qualitatively different methods which emphasize risk due to constraints on spatial and temporal distribution of information, risk due to scale, and risk due to extreme sensitivity to changes in operating
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
Heuristically, it was claimed in the literature that increasing the time-constant 'Tref'... more Heuristically, it was claimed in the literature that increasing the time-constant 'Tref' of the reference trajectory in predictive functional control (PFC) improves the closed-loop stability because the controller will be able to tolerate model mismatch which is difficult for a zero time-constant reference trajectory (a pure set-point) to tolerate. On the other hand, PFC uses 'Tref' as the main tuning
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
A new technique for the design of full-order state observers with limitation of the estimation er... more A new technique for the design of full-order state observers with limitation of the estimation error has been recently proposed, based on the concept of set-invariance. However, such a technique was limited to single-output linear systems. In this paper, the design of set-invariant estimators is extended to multiple-output linear discrete-time systems subject to bounded disturbances. Based on multiparametric linear programming concepts, necessary and sufficient conditions are established under which a given polyhedral set defined on the estimation error space is invariant, in the sense that the error trajectory can be kept in this set by means of a suitable output injection. Moreover, three algorithms are proposed for the computation of an invariant polyhedron which bounds the trajectory of the estimation error. Important issues such as the computation of the output injection law and the convergence of the proposed algorithms are discussed as well. Numerical examples illustrate the proposed technique
SIAM Journal on Control and Optimization, 2006
We introduce the concept of matrix-valued ef- fective resistance for undirected matrix-weighted g... more We introduce the concept of matrix-valued ef- fective resistance for undirected matrix-weighted graphs. Ef- fective resistances are defined to be the square blocks that appear in the diagonal of the inverse of the matrix-weighted Dirichlet graph Laplacian matrix. However, they can also be obtained from a "generalized" electrical network that is constructed from the graph, and for which currents, voltages and resistances take matrix values. Effective resistances play an important role in several problems related to distributed control and estimation. They appear in least-squares estimation problems in which one attempts to reconstruct global information from relative noisy measurements; as well as in motion control problems in which agents attempt to control their positions towards a desired formation, based on noisy local measurements. We show that in either of these problems, the effective resistances have a direct physical interpretation. We also show that effective resi...
This paper deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonli... more This paper deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonlinear systems in an extended output feedback form which allows the vector field coupled with the system input to have different nonlinear functions of the system output as its elements. This extended output feedback form has nonlinear dynamics for the internal states with the nonlinearity depending on the
July 24, 2007 Please attend WTP's 21st Annual 2007 Employment Law Update Seminar Wednesday, O... more July 24, 2007 Please attend WTP's 21st Annual 2007 Employment Law Update Seminar Wednesday, October 10th Tremont Grand Hotel 225 N. Charles Street, Baltimore MD 8:30 am 3:15 pm You are cordially invited to an all-day seminar dedicated exclusively to employment-related issues and concerns for our clients and friends of the firm. The workshop format allows you to learn from WTP attorneys and your peers. We hope that you will be able to join us for this educational and informative day. Guest Speaker: J. Ronald DeJuliis, Maryland Commissioner of Labor & Industry Workshop Schedule 8:30 9:00 a.m. Registration and Continental Breakfast
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
In this paper, we analyse the optimal quantization of signals for parameter estimation under cons... more In this paper, we analyse the optimal quantization of signals for parameter estimation under constraints on admissible error bounds. We deal with simple FIR models where the input is a stochastic variable of uniform distribution. Then, we consider to derive the optimal memoryless quantization schemes for the output signals, which maximize the probability that the hard bounds of the estimated
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
... IV. THE QUALITATIVE THEORY OF DECENTRALIZED CONTROL OF RIGID FORMATION MOTIONS We now return ... more ... IV. THE QUALITATIVE THEORY OF DECENTRALIZED CONTROL OF RIGID FORMATION MOTIONS We now return to the general case and consider rigid formations of n (n > 3) robot agents. ... Given the symmetry about the critical line of the leader and first follower, there are ...
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
We consider the problem of stochastic control under power constraints. Problems such as linear qu... more We consider the problem of stochastic control under power constraints. Problems such as linear quadratic optimal control with information constraints are instances of the problem considered. The calculations of the optimal control law can be done off-line as in the classical linear quadratic Gaussian control theory using dynamic programming, which turns out to be a special case of the new theory developed in this paper.
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
While classical models of risk in insurance and financial markets have been effectively treated b... more While classical models of risk in insurance and financial markets have been effectively treated by the methods of stochastic and adaptive processes, a wide variety of new technologies will require qualitatively different methods which emphasize risk due to constraints on spatial and temporal distribution of information, risk due to scale, and risk due to extreme sensitivity to changes in operating
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
Heuristically, it was claimed in the literature that increasing the time-constant 'Tref'... more Heuristically, it was claimed in the literature that increasing the time-constant 'Tref' of the reference trajectory in predictive functional control (PFC) improves the closed-loop stability because the controller will be able to tolerate model mismatch which is difficult for a zero time-constant reference trajectory (a pure set-point) to tolerate. On the other hand, PFC uses 'Tref' as the main tuning
Proceedings of the 45th IEEE Conference on Decision and Control, 2006
A new technique for the design of full-order state observers with limitation of the estimation er... more A new technique for the design of full-order state observers with limitation of the estimation error has been recently proposed, based on the concept of set-invariance. However, such a technique was limited to single-output linear systems. In this paper, the design of set-invariant estimators is extended to multiple-output linear discrete-time systems subject to bounded disturbances. Based on multiparametric linear programming concepts, necessary and sufficient conditions are established under which a given polyhedral set defined on the estimation error space is invariant, in the sense that the error trajectory can be kept in this set by means of a suitable output injection. Moreover, three algorithms are proposed for the computation of an invariant polyhedron which bounds the trajectory of the estimation error. Important issues such as the computation of the output injection law and the convergence of the proposed algorithms are discussed as well. Numerical examples illustrate the proposed technique
SIAM Journal on Control and Optimization, 2006
We introduce the concept of matrix-valued ef- fective resistance for undirected matrix-weighted g... more We introduce the concept of matrix-valued ef- fective resistance for undirected matrix-weighted graphs. Ef- fective resistances are defined to be the square blocks that appear in the diagonal of the inverse of the matrix-weighted Dirichlet graph Laplacian matrix. However, they can also be obtained from a "generalized" electrical network that is constructed from the graph, and for which currents, voltages and resistances take matrix values. Effective resistances play an important role in several problems related to distributed control and estimation. They appear in least-squares estimation problems in which one attempts to reconstruct global information from relative noisy measurements; as well as in motion control problems in which agents attempt to control their positions towards a desired formation, based on noisy local measurements. We show that in either of these problems, the effective resistances have a direct physical interpretation. We also show that effective resi...
This paper deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonli... more This paper deals with asymptotic rejection of unknown sinusoidal disturbances for uncertain nonlinear systems in an extended output feedback form which allows the vector field coupled with the system input to have different nonlinear functions of the system output as its elements. This extended output feedback form has nonlinear dynamics for the internal states with the nonlinearity depending on the