Networked Control

Enabling Control in New Scenarios

Many current challenges in the context of real-time feedback control require that the communication medium must be shared between several sensors, controllers and actuators, and other (possibly unknown) applications. These challenges include the developments of cooperative adaptive cruise control (CACC) and regulation of large-scale (city-wide) systems such as water and power distribution systems. Sharing a communication channel naturally implies that network behaviour related to properties that are crucial to real-time feedback control, such as the data rate, will be uncertain.

The usage of wired and especially wireless communication networks in control systems offer many benefits such as the ease of maintenance and installation, large flexibility, the ability to distribute the control system and the possibility to measure in possibly harsh environments and on moving objects. However, it is generally known that the use of a shared communication network can introduce uncertainties that can degrade performance and can even threaten closed-loop stability. Specifically, several network-induced effects can be introduced in the closed-loop system:

  • the presence of a shared communication medium
  • varying sampling/transmission intervals
  • varying transmission delays
  • packet dropouts
  • quantization

Networked control theory, which studies the properties of control systems such as the one schematically depicted above is built upon the realization that there exist many relevant real-time feedback control applications where communication between sensors, actuators and controllers is not always perfect. So, performance limitations related to such imperfect communication need to be established before all the advantages of these so-called "networked control systems" (NCSs) can be harvested.

Although current advances in telecommunications are steadily expanding the diameter and distance of the data pipe, the uncertainty of networked traffic worries and deters control engineers from using this communication medium for real-time feedback control applications. Trusty and reliable, wired point-to-point communication is what control engineers conventionally rely on. However, breaking free of the dependence on dedicated wiring for communication will solve many current challenges as well as open up many interesting possibilities, and, therefore forms a highly relevant research field.

Related Publications

2023

  • Explaining the "mystery" of periodicity in inter-transmission times in two-dimensional event-triggered controlled system

    February, 2023
    R. Postoyan, R.G. Sanfelice, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 68(2), p. 912-927

  • Switching formation control of multi-lane autonomous vehicle platoons robust to relative position measurement noises

    2023
    B.G.L. Meere, B. Fidan, W.P.M.H. Heemels
    IFAC World Congress 2023, Yokohama, Japan

2022

  • Scheduling of over-actuated networked control systems

    2022
    J. Kreiss, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IFAC Conference on Networked Systems (NECSYS) 2022, Zurich, Switzerland [IFAC PapersOnLine] 55(13), p. 25-30

  • Event-triggered observer design of nonlinear systems with multiple sensor nodes

    2022
    E. Petri, R. Postoyan, D. Astolfi, D. Nesic, W.P.M.H. Heemels
    International Symposium on Mathematical Theory of Networks and Systems (MTNS), Bayreuth, Germany, 2022

  • Distributed Periodic Event-Triggered Control of Nonlinear Multi-Agent Systems

    2022
    K. Scheres, V. Dolk, M. Chong, R. Postoyan, W.P.M.H. Heemels
    IFAC Conference on Networked Systems (NECSYS) 2022, Zurich, Switzerland [IFAC PapersOnLine] 55(13), p. 168-173

2021

  • An l2-Consistent Event-Triggered Control Policy for Linear Systems

    2021
    M. Balaghiinaloo, D.A. Antunes, W.P.M.H. Heemels
    Automatica 125, p. 109412

  • An Average Allowable Transmission Interval Condition for the Stability of Networked Control Systems

    June, 2021
    S.H.J. Heijmans, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 66(6), p. 2526-2541

  • Event-Triggered State Estimation with Multiple Noisy Sensor Nodes (Invited Paper)

    2021
    K. Scheres, M.S. Chong, R. Postoyan, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2021, Austin (Texas), USA, p. 558-563

  • Event-Triggered Observer Design for Linear Systems (Invited Paper)

    2021
    E. Petri, R. Postoyan, D. Astolfi, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2021, Austin (Texas), USA, p. 546-551

  • Urgency-Aware Optimal Routing in Repeated Games through Artificial Currencies

    2021
    M. Salazar, D. Paccagnan, A. Agazzi, W.P.M.H. Heemels
    European Control Conference, Rotterdam, The Netherlands, 2021

2020

  • Event- and deadline-driven control of a self-localizing robot with vision-induced delays

    2020
    E.P. van Horssen, J.A.A. van Hooijdonk, D. Antunes, W.P.M.H. Heemels
    IEEE Transactions on Industrial Electronics 67(2), p. 1212-1221

  • L2-gain Analysis of Periodic Event-Triggered Control and Self-Triggered Control using Lifting

    2020
    N. Strijbosch, G.E. Dullerud, A.R. Teel, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 66(8), p. 3749-3756

  • Image-based feedback control for drift compensation in an electron microscope

    2020
    E.P. van Horssen, B.J. Janssen, A. Kumar, D. Antunes, W.P.M.H. Heemels
    IFAC Journal of Systems and Control 11, p. 100074

  • Periodic event-triggered control for nonlinear networked control systems

    2020
    Wei Wang, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 65(2), p. 620-635

  • A unifying event-triggered control framework based on a hybrid small-gain theorem (Invited paper)

    2020
    Wei Wang, D. Nesic, R. Postoyan, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2020, Jeju Island, Republic of Korea , p. 4979-4984

  • Event-Triggered Control in Presence of Measurement Noise: A Space-Regularization Approach (Invited Paper)

    2020
    K. Scheres, R. Postoyan, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2020, Jeju Island, Republic of Korea , p. 6234-6239

  • LQ-power Consistent Control: Leveraging Transmission Power Selection in Control Systems

    2020
    M.i Balaghiinaloo, D.J. Antunes, V.S. Varma, R. Postoyan, W.P.M.H. Heemels
    European Control Conference (ECC) 2020. Saint Petersburg, Russia, p. 1701-1706

  • Towards the Coarsest Quantized Controller under Denial-of-Service Attacks

    2020
    D. van Dinther, S. Feng, H. Ishii, W. P. M. H. Heemels
    IFAC World Congress 2020, Berlin, Germany "IFAC PapersOnLine" 53(2), p. 3496-3501

2019

  • Switched LQG control for linear systems with multiple sensing methods

    2019
    E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
    Automatica 103, p. 217--229

  • Event-triggered and Self-triggered Control for Linear Systems Based on Reachable Sets

    2019
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    Automatica 101, p. 15-26

  • Event-triggered quantized control for input-to-state stabilization of linear systems with distributed output sensors

    2019
    M. Abdelrahim, V.S. Dolk, and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 64(12), p. 4952-4967

  • Reverse Average Dwell-Times for Networked Control Systems

    December, 2019
    S.H.J. Heijmans, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 5480-5485

  • Consensus and Reliability: The Case of Two Binary Classifiers

    2019
    A.T.J.R. Cobbenhagen, A. Care, M.C. Campi, F.A. Ramponi, W.P.M.H. Heemels
    8th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Chicago, IL, USA "IFAC PapersOnLine" 52(20), p. 73–78

  • An L2-Consistent Data Transmission Sequence for Linear Systems

    December, 2019
    M. Hadi Balaghi I., Duarte J. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 2622-2627

  • Event-Triggered Consensus for Multi-Agent Systems with Guaranteed Robust Positive Minimum Inter-Event Times

    December, 2019
    V.S. Dolk, R. Postoyan, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 2604-2609

  • State-feedback event-holding control for nonlinear systems

    December, 2019
    W. Wang, D. Nesic, R. Postoyan, I. Shames, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 1650-1655

  • Inter-event Times Analysis for Planar Linear Event-triggered Controlled Systems

    December, 2019
    R. Postoyan, R.G. Sanfelice, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 1662-1667

2018

  • Stability Analysis of Networked Linear Control Systems with Direct-Feedthrough Terms

    2018
    S.H.J. Heijmans, R. Postoyan, D. Nesic, N. Noroozi, W.P.M.H. Heemels
    Automatica 96, p. 186-200

  • Event-driven control with deadline optimization for linear systems with stochastic delays

    2018
    E.P. van Horssen, S. Prakash, D.A. Antunes, W.P.M.H. Heemels
    IEEE Transactions on Control of Network Systems 5(4), p. 1819-1829

  • Observability and controllability analysis of linear systems subject to data losses

    2018
    R.M. Jungers, A. Kundu, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 63(10), p. 3361-3376

  • Co-design of output feedback laws and event-triggering conditions for the L2-stabilization of linear systems

    2018
    M. Abdelrahim, R. Postoyan, J. Daafouz, D. Nesic, W.P.M.H. Heemels
    Automatica 87, p. 337-344

  • Periodic Event-Triggered Sampling and Dual-rate Control for a Wireless Networked Control System with Applications to UAVs

    2018
    A. Cuenca, D. Antunes, A. Castillo, P. Garcia, B. Asadi Khashooei, W.P.M.H. Heemels
    IEEE Transactions on Industrial Electronics 66(4), p. 3157-3166

  • Riccati-Based Design of Event-Triggered Controllers for Linear Systems with Delays

    2018
    D.P. Borgers, V.S. Dolk, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 63(1), p. 174-188

  • Observability of Discrete-Time Linear Systems with Communication Protocols and Dropouts

    2018
    A. Tanwani, R. Jungers, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2018, Miami, Fl, USA, p. 4194-4199

  • Periodic event-triggered output feedback control of nonlinear systems

    2018
    W. Wang, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2018, Miami, Fl, USA, p. 957-962

  • A Generalized Hybrid Lyapunov Proof for Networked Control Systems: Improving the Maximum Allowable Transmission Interval

    2018
    S.H. J. Heijmans, D. Nesic, R. Postoyan, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2018, Miami, Fl, USA, p. 428-433

  • Heterogeneous Multi-Agent Resource Allocation through Multi-Bidding with Applications to Precision Agriculture

    2018
    Cobbenhagen, R., Antunes, D., Van de Molengraft, R. Heemels, W.P.M.H.
    7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Groningen, The Netherlands "[IFAC-PapersOnline]" 51-23, p. 194–199

  • Singularly Perturbed Networked Control Systems

    2018
    S.H.J. Heijmans, D. Nesic, R. Postoyan, W.P.M.H. Heemels
    7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Groningen, The Netherlands "[IFAC-PapersOnline]" 51-23, p. 106–111

  • Multirate control for high accuracy and low cost: dual-stage experiments

    2018
    van Zundert, J. C. D., Oomen, T. A. E., Aangenent, W. H. T. M., Heemels, W. P. M. H.
    4th DSPE Conference on Precision Mechatronics, DSPE2018, 4-5 September 2018, Sint Michielsgestel, The Netherlands.

  • Time-Regularized and Periodic Event-Triggered Control for Linear Systems

    2018
    D.P. Borgers, V.S. Dolk, G.E. Dullerud, A.R. Teel, W.P.M.H. Heemels
    in "Tarbouriech S., Girard A., Hetel L. (eds). Lecture Notes in Control and Information Sciences. Vol. 475. "Control Subject to Computational and Communication Constraints. "", Springer 475, p. 121-149

2017

  • Output-based and Decentralized Dynamic Event-triggered Control with Guaranteed Lp-gain Performance and Zeno-freeness

    January, 2017
    V.S. Dolk, D.P. Borgers, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 62(1), p. 34-49

  • Tradeoffs Between Quality-of-Control and Quality-of-Service in Large-Scale Nonlinear Networked Control Systems

    2017
    D.P. Borgers, R. Geiselhart, W.P.M.H. Heemels
    Nonlinear Analysis: Hybrid Systems "(special issue)" 23, p. 142–165

  • Event-triggered Control Systems under Denial-of-Service Attacks

    2017
    V.S. Dolk, P. Tesi, C. De Persis, W.P.M.H. Heemels
    IEEE Transactions on Control of Network Systems "(Full papers for Special Issue on Secure Control of Cyber Physical Systems)" 4(1), p. 93 - 105

  • Stability and Performance Analysis of Spatially Invariant Systems with Networked Communication

    October, 2017
    S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 62(10), p. 4994 - 5009

  • Event-triggered Control under Packet Losses

    June, 2017
    V.S. Dolk, W.P.M.H. Heemels
    Automatica 80, p. 143–155

  • Computing Minimal and Maximal Allowable Transmission Intervals for Networked Control Systems using the Hybrid Systems Approach

    2017
    S.H.J. Heijmans, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Control Systems Letters 1(1), p. 56 - 61

  • Resource-aware MPC for constrained linear systems: Two rollout approaches

    2017
    T.M.P. Gommans, D. Antunes, W.P.M.H. Heemels
    Journal of Process Control 51, p. 68–83

  • Robust Event-triggered MPC With Guaranteed Asymptotic Bound and Average Sampling Rate

    2017
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    IEEE Transactions on Automatic Control 62(11), p. 5694 - 5709

  • Suboptimal Event-triggered Control over Unreliable Communication Links with Experimental Validation

    May, 2017
    B. Asadi Khashooei, B. van Eekelen, D. J. Antunes and W. P. M. H. Heemels
    3rd International Conference on Event-based Control, Communication and Signal Processing 2017, Madeira, Portugal

  • Coverage Control for Outbreak Dynamics

    2017
    A.T.J.R. Cobbenhagen, D.J. Antunes, M.J.G. van de Molengraft, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia, p. 984-989

  • Self-triggered and event-driven control for linear systems with stochastic delays

    2017
    S. Prakash, E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
    American Control Conference 2017, Seattle (WA), USA. , p. 3023-3028

  • Event-triggered Consensus Seeking under Non-uniform Time-Varying Delays

    2017
    V.S. Dolk, M. Abdelrahim, W.P.M.H. Heemels
    IFAC World Congress 2017, Toulouse, France "[IFAC-PapersOnline]" 50-1, p. 10096–10101

  • Dynamic Periodic Event-Triggered Control for Linear Systems

    2017
    D.P. Borgers, V.S. Dolk and W.P.M.H. Heemels
    Hybrid Systems: Computation and Control (HSCC) 2017, Pittsburgh, USA, p. 179-186

  • MAX-consensus in open multi-agent systems with gossip interactions

    2017
    M. Abdelrahim, J.M. Hendrickx and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia, p. 4753-4758

  • Design of periodic event-triggered control for polynomial systems: A delay system approach

    2017
    E. Aranda Escolástico*, M. Abdelrahim, M. Guinaldo, S. Dormido, W.P.M.H. Heemels
    IFAC World Congress 2017, Toulouse, France "[IFAC-PapersOnline]" 50-1, p. 7887–7892

  • V.S. Dolk, D.P. Borgers, J.R. van der Velden, J.L.C. Verhaegh, J. Ploeg, W.P.M.H. Heemels

    March, 2017
    Resource-aware Cooperative Driving
    Hybrid Systems: Computation and Control (HSCC) 2017, Pittsburgh, USA

  • L2-gain Analysis of Periodic Event-triggered Systems with Varying Delays using Lifting Techniques

    2017
    N.W.A. Strijbosch, G.E. Dullerud, A.R. Teel, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia, p. 6069-6075

  • Computing Minimal and Maximal Allowable Transmission Intervals for Networked Control Systems using the Hybrid Systems Approach

    2017
    S.H.J. Heijmans, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2017, Melbourne, Australia "(appeared in IEEE Control Systems Letters)" 1(1), p. 56-61

2016

  • The impact of deadline misses on the control performance of high-end motion control systems

    2016
    W. Geelen, D. Antunes, J.P.M. Voeten, R.R.H. Schiffelers, W.P.M.H. Heemels
    IEEE Transactions on Industrial Electronics 63(2), p. 1218-1229

  • Frequency-Domain Analysis of Control Loops with Intermittent Data Losses

    2016
    D. Antunes, W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 61(8), p. 2295-2300

  • Robust Self-Triggered MPC for Constrained Linear Systems: A Tube-Based Approach

    2016
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    Automatica 72, p. 73-83

  • L2-gain Analysis for a Class of Hybrid Systems with Applications to Reset and Event-triggered Control: A Lifting Approach

    October, 2016
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Transactions on Automatic Control 61(10), p. 2766-2781

  • Switching data-processing methods in a control loop: Trade-off between delay and probability of data acquisition

    2016
    E.P. van Horssen, D. Antunes, W.P.M.H. Heemels
    6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2016, Tokio, Japan "[IFAC-PapersOnline]" 49-22, p. 274-279

  • On the Potential of Lifted Domain Feedforward Controllers with a Periodic Sampling Sequence

    2016
    J. van Zundert, T. Oomen, D. Goswami, and W.P.M.H. Heemels
    American Control Conference 2016 (Boston, USA), p. 4227-4232

  • From ideal to packet-based communication for spatially invariant systems with various interconnection structures

    2016
    S.H. J. Heijmans, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 4388-4393

  • Solution Concepts and Analysis of Spatially Invariant Hybrid Systems: Exploring Zeno and beyond

    2016
    S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels
    10th IFAC Symposium on Nonlinear Control Systems (NOLCOS) 2016. Monterey, California, USA "IFAC Papers Online 49-18", p. 164-169

  • Numerical Evaluation of a Robust Self-Triggered MPC Algorithm

    2016
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2016, Tokio, Japan "[IFAC-PapersOnline]" 49-22, p. 151–156

  • Stability Analysis of Spatially Invariant Systems with Event-Triggered Communication

    2016
    S.H.J. Heijmans, V.S. Dolk, D.P. Borgers, W.P.H. Heemels
    Conference on Event-Based Control, Communication and Signal Processing (EBCCSP) 2016

  • Stability analysis of networked control systems with direct-feedthrough terms: Part I - The nonlinear case

    2016
    N. Noroozi, R. Postoyan, D. Nesic, S.H. J. Heijmans, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 6820-6825

  • gamma-Invasive Event-Triggered and Self-Triggered Control for Perturbed Linear Systems (Invited paper)

    2016
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 1346-1351

  • Experimental validation of an event-triggered policy for remote sensing and control with performance guarantees

    2016
    B. Van Eekelen, N.S. Rao, B. Asadi Khashooei, D. Antunes, W.P.M.H. Heemels
    Conference on Event-Based Control, Communication and Signal Processing (EBCCSP) 2016

  • Constructions of Lyapunov Functions for Large-scale Networked Control Systems with Packet-based Communication (Invited Paper)

    2016
    W.P.M.H. Heemels, D.P. Borgers, V.S. Dolk, R. Geiselhart, S.H.J. Heijmans
    European Control Conference (ECC) 2016, Aalborg, DK, p. 936-938

  • Stability analysis of networked control systems with direct-feedthrough terms: Part II - The linear case

    2016
    S.H. J. Heijmans, R. Postoyan, N. Noroozi, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 5974-5979

  • Dynamic event-triggered control with time regularization for linear systems (Invited paper)

    2016
    D.P. Borgers, V.S. Dolk, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 1352-1357

  • Dynamic Thresholds in Robust Event-Triggered Control for Discrete-Time Linear Systems

    2016
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    European Control Conference (ECC) 2016, Aalborg, DK, p. 983-988

  • Resource utilization and Quality-of-Control trade-off for a composable platform

    2016
    J. Valencia, E.P. van Horssen, D. Goswami; W.P.M.H. Heemels, K. Goossens
    Design, Automation & Test in Europe Conference & Exhibition (DATE), p. 654-659

  • Input-to-state stabilizing event-triggered control for linear systems with output quantisation (Invited paper)

    2016
    M.M.O. Abdelrahim, V.S. Dolk, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 483-488

  • Performance analysis and controller improvement for linear systems with (m,k)-firm data losses

    2016
    E.P. van Horssen, A.R. Baghban Behrouzian, D. Goswami, D. Antunes, T. Basten, W.P.M.H. Heemels
    European Control Conference (ECC) 2016, Aalborg, DK, p. 2571-2577

  • Sample-drop firmness analysis of TDMA-scheduled control applications

    2016
    A.R.B. Behrouzian, D. Goswami, M. Geilen, M. Hendriks, H. Alizadeh Ara, E.P. van Horssen, W.P.M.H. Heemels, T. Basten
    IEEE Symposium on Industrial Embedded Systems (SIES), p. 1-8

  • Stabilization of nonlinear systems using state-feedback periodic event-triggered controllers

    2016
    Wei Wang, R. Postoyan, D. Nesic, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC), Las Vegas, NV, USA, 2016, p. 6808-6813

2015

  • Resource-aware MPC for Constrained Nonlinear Systems: A Self-Triggered Control Approach

    May, 2015
    T.M.P. Gommans and W.P.M.H. Heemels
    Systems and Control Letters 79, p. 59-67

  • An event-triggered policy for remote sensing and control with performance guarantees

    2015
    B. Asadi Khashooei, D. Antunes, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 4830 - 4835

  • Robust Self-Triggered Model Predictive Control for Constrained Discrete-Time LTI Systems based on Homothetic Tubes

    2015
    E. Aydiner, F.D. Brunner, W P.M.H. Heemels, F. Allgower
    European Control Conference (ECC), 2015, Linz, Austria, p. 1587-1593

  • Communication Scheduling in Robust Self-Triggered MPC for Linear Discrete-Time Systems

    2015
    F.B. Brunner, T.M.P. Gommans, W.P.M.H. Heemels, F. Allgower
    IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 132-137)", p. 132-137

  • Event-triggered Control Systems under Denial-of-Service Attacks (invited paper)

    2015
    V.S. Dolk, P. Tesi, C. De Persis, W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 4824 - 4829

  • Stability Analysis of Spatially Invariant Interconnected Systems with Networked Communication

    2015
    S.H.J. Heijmans, D.P. Borgers, W.P.M.H. Heemels
    IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 221-226)", p. 221-226

  • A lifting approach to L2-gain analysis of periodic event-triggered and switching sampled-data control systems (invited paper)

    2015
    W.P.M.H. Heemels, G.E. Dullerud, A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 4176 - 4182

  • Robust Event-Triggered MPC for Constrained Linear Discrete-Time Systems with Guaranteed Average Sampling Rate

    2015
    F.D. Brunner, W.P.M.H. Heemels, F. Allgower
    IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain "(IFAC-PapersOnLine, Volume 48, Issue 23, 2015, Pages 117-122)", p. 117-122

  • Feedforward for Multi-Rate Motion Control: Enhanced Performance and Cost-Effectiveness

    2015
    J.C.D. van Zundert, J.L.C. Verhaegh, W.H.T.M. Aangenent, T. Oomen, D. Antunes and W.P.M.H. Heemels
    American Control Conference (ACC) 2015, Chicago, USA, p. 2831-2836

  • Controllability of Linear Systems Subject to Packet Losses

    2015
    R.M. Jungers and W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2015, Atlanta, USA. "(IFAC-PapersOnLine, Volume 48, Issue 27, 2015)", p. 80-85

  • Rollout Strategies for Output-Based Event-Triggered Control

    2015
    B. Asadi Khashooei, D. J. Antunes and W. P. M. H. Heemels
    European Control Conference (ECC), 2015, Linz, Austria, p. 2168-2173

  • Resource-aware set-valued estimation for discrete-time linear systems (invited paper)

    2015
    F.D. Brunner, T.M.P. Gommans, W.P.M.H. Heemels, F. Allgower
    IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 5480 - 5486

  • Dynamic event-triggered control under packet losses: The case with acknowledgements

    2015
    Dolk, V.S. and Heemels, W.P.M.H.
    International Conference on Event-based Control, Communication, and Signal Processing (EBCCSP), p. 1-7

  • Frequency-domain analysis of real-time and networked control systems with stochastic delays and data drops

    2015
    D. Antunes, W. Geelen, W. P. M. H. Heemels
    European Control Conference (ECC), 2015, Linz, Austria, p. 940-946

  • On Observability in Networked Control Systems with Packet Losses

    2015
    R.M. Jungers, A. Kundu, W.P.M.H. Heemels
    Annual Allerton Conference on Communication, Control, and Computing 2015, Urbana-Champaign, USA, p. 238-243

  • Resource-aware control and dynamic scheduling in CPS

    2015
    W.P.M.H. Heemels
    in "Cyber-physical systems: Design, modelling and evaluation. 5th International workshop CyPHY 2015, Amsterdam, The Netherlands. ", Springer LNCS 9361, p. 1-7

  • Event-Triggered and Self-Triggered Control

    2015
    W.P.M.H. Heemels, K.H. Johansson and P. Tabuada,
    in "Encyclopedia of Systems and Control (J. Baillieul and Samad, T. - Eds.) doi: 10.1007/978-1-4471-5058-9_97", Springer, p. 384-391

  • Periodic Event-triggered Control

    2015
    W.P.M.H. Heemels, R. Postoyan, M.C.F. Donkers, A.R Teel, A. Anta, P. Tabuada, and D. Nesic
    in "Event-based control and signal processing, M. Miskowicz (Ed.)", CRC Press/ Taylor & Francis

2014

  • Exploring the Boundaries of Robust Stability under Uncertain Communication: An NCS Toolbox Applied to a Wireless Control Setup

    August, 2014
    N.W. Bauer, S.J.L.M. van Loon, N. Van de Wouw, and W.P.M.H. Heemels
    IEEE Control Systems Magazine 34(4), p. 65-86

  • Minimum Attention Control for Linear Systems: A Linear Programming Approach

    June, 2014
    M.C.F. Donkers, P. Tabuada, and W.P.M.H. Heemels
    Discrete Event Dynamic Systems Theory and Applications "Special Issue: Event-Based Control and Optimization" 24(2), p. 199-218

  • Event-Separation Properties of Event-Triggered Control Systems

    May, 2014
    D.P. Borgers and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 59(10), p. 2644-2656

  • Rollout Event-Triggered Control: Beyond Periodic Control Performance

    August, 2014
    D. Antunes and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 59(12), p. 3296-3311

  • Self-Triggered Linear Quadratic Control

    2014
    T.M.P. Gommans, D. Antunes, M.C.F. Donkers, P. Tabuada, W.P.M.H. Heemels
    Automatica 50(4), p. 1279-1287

  • Tracking Control for Nonlinear Networked Control Systems

    February, 2014
    R. Postoyan, N. van de Wouw, D. Nesic, and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 59(6), p. 1539-1554

  • Stability Analysis of Large-scale Networked Control Systems with Local Networks: A Hybrid Small-gain approach

    April, 2014
    D.P. Borgers and W.P.M.H. Heemels
    Hybrid Systems: Computation and Control (HSCC) 2014, Berlin, Germany, p. 103-112

  • Output-Based Controller Synthesis for Networked Control Systems with Periodic Protocols and Time-Varying Transmission Intervals and Delays

    August, 2014
    M.C.F. Donkers, J. Daafouz and W.P.M.H. Heemels
    IFAC World Congress 2014, Cape Town, South Africa, p. 6478-6483

  • String Stability of Interconnected Vehicles: Network-Aware Modelling, Analysis and Experiments

    January, 2014
    S. Oncu
    Eindhoven University of Technology

  • Stability analysis of large-scale networked control systems with local networks: A hybrid small-gain approach

    February, 2014
    D.P. Borgers and W.P.M.H. Heemels
    Eindhoven University of Technology "CST 2014.025"

2013

  • Model-Based Periodic Event-Triggered Control for Linear Systems

    March, 2013
    W.P.M.H. Heemels and M.C.F. Donkers
    Automatica 49(3), p. 698-711

  • Compensation-Based Control for Lossy Communication Networks

    June, 2013
    T.M.P. Gommans, W.P.M.H. Heemels, N. Bauer and N. van de Wouw
    International Journal of Control 86(10), p. 1880-1897

  • Stability Analysis of Networked and Quantized Linear Control Systems

    November, 2013
    S.J.L.M. van Loon, M.C.F. Donkers, N. van de Wouw, and W.P.M.H. Heemels
    Nonlinear Analysis: Hybrid Systems "Special Issue: IFAC Conference on Analysis and Design 2012" 10(C), p. 111-125

  • Periodic Event-Triggered Control for Linear Systems

    April, 2013
    W.P.M.H. Heemels, M.C.F. Donkers and A.R. Teel
    IEEE Transactions on Automatic Control 58(4), p. 847-861

  • Decentralized Observer-Based Control via Networked Communication

    July, 2013
    N.W. Bauer, M.C.F. Donkers, N. van de Wouw and W.P.M.H. Heemels
    Automatica 49(7), p. 2074-2086

  • Stability analysis of nonlinear networked control systems with asynchronous communication: A small-gain approach

    December, 2013
    W.P.M.H. Heemels, D.P. Borgers, N. Van De Wouw, D. Nesic and A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 4631-4637

  • Extension and Evaluation of Model-Based Periodic Event-Triggered Control

    July, 2013
    J.L.C. Verhaegh, T.M.P. Gommans and W.P.M.H. Heemels
    European Control Conference (ECC) 2013, Zurich, Switzerland, p. 1138-1144

  • On minimum inter-event times in event-triggered control

    December, 2013
    D.P. Borgers and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 7370-7375

  • Periodic event-triggered control for nonlinear systems

    December, 2013
    R. Postoyan, A. Anta, W.P.M.H. Heemels, P. Tabuada and D. Nesic
    IEEE Conference on Decision and Control (CDC) 2013, Florence, Italy, p. 7397-7402

  • Networked Control Systems: From Theory to Experiments

    2013
    N.W. Bauer
    Eindhoven University of Technology "PhD Thesis"

2012

  • Stability Analysis of Stochastic Networked Control Systems

    May, 2012
    M.C.F. Donkers, W.P.M.H. Heemels, D. Bernardini, A. Bemporad, and V. Shneer
    Automatica 48(5), p. 917-925

  • Output-Based Event-Triggered Control with Guaranteed L_infty and Improved and Decentralised Event-Triggering

    June, 2012
    M.C.F. Donkers and W.P.M.H. Heemels
    IEEE Transactions on Automatic Control 57(6), p. 1362-1376

  • A Discrete-time Framework for Stability Analysis of Nonlinear Networked Control Systems

    June, 2012
    N. van De Wouw, D. Nesic, and W.P.M.H. Heemels
    Automatica 48(6), p. 1144-1153

  • Stability Analysis of Networked Control Systems: A Sum of Squares Approach

    August, 2012
    N.W. Bauer, P.J.H. Maas and W.P.M.H. Heemels
    Automatica 48(8), p. 1514-1524

  • Emulation-based tracking solutions for nonlinear networked control systems

    December, 2012
    R. Postoyan, N. van De Wouw, D. Nesic and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 740-745

  • Scheduling Measurements and Controls over Networks - Part I: Rollout Strategies for Protocol design

    June, 2012
    D. Antunes, W.P.M.H. Hemels, J.P. Hespanha and C. Silvestre
    American Control Conference (ACC) 2012, Montreal, Canada, p. 2036-2041

  • String Stability of Interconnected Vehicles Under Communication Constraints

    December, 2012
    S. Oncu, N. van De Wouw, W.P.M.H. Heemels and H. Nijmeijer
    IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 2459-2464

  • Scheduling Measurements and Controls over Networks - Part II: Rollout Strategies for Simultaneous Protocol and Controller design

    June, 2012
    D. Antunes, W.P.M.H. Heemels, J.P. Hespanha and C. Silvestre
    American Control Conference (ACC) 2012, Montreal, Canada, p. 2042-2047

  • Stability Analysis of Networked Control Systems with Periodic Protocols and Uniform Quantizers

    June, 2012
    S.J.L.M. van Loon, M.C.F. Donkers, N. van de Wouw, and W.P.M.H. Heemels
    IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2012, Eindhoven, The Netherlands, p. 186-191

  • An introduction to event-triggered and self-triggered control

    December, 2012
    W.P.M.H. Heemels, K.H. Johansson, and P. Tabuada
    IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 3270-3285

  • Decentralized Static Output-Feedback Control via Networked Communication

    June, 2012
    N.W. Bauer, M.C.F. Donkers, N. Van De Wouw and W.P.M.H. Heemels
    American Control Conference (ACC) 2012, Montreal, Canada, p. 5700-5705

  • Self-triggered MPC for constrained linear systems and quadratic costs

    August, 2012
    J.D.J. Barradas Berglind, T.M.P. Gommans and W.P.M.H. Heemels
    IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2012, Noordwijkerhout, The Netherlands, p. 342-348

  • Compensation-Based Control for Lossy Communication Networks

    June, 2012
    T.M.P. Gommans, W.P.M.H. Heemels, N.W. Bauer and N. Van De Wouw
    American Control Conference (ACC) 2012, Montreal, Canada, p. 2854-2859

  • Dynamic Programming Formulation of Periodic Event-Triggered Control: Performance Guarantees and Co-Design

    December, 2012
    D. Antunes, W.P.M.H. Heemels and Paulo Tabuada
    IEEE Conference on Decision and Control (CDC) 2012, Hawaii, USA, p. 7212-7217

  • Proceedings of the 4th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS12). Eindhoven, The Netherlands

    June, 2012
    W.P.M.H. Heemels, B. De Schutter, and M. Lazar (Eds.)
    International Federation of Automatic Control (IFAC) "Analysis and Design of Hybrid Systems book link"

  • Networked and Event-Triggered Control Systems

    2012
    M.C.F. Donkers
    Eindhoven University of Technology "PhD Thesis"

2011

  • Delay-Varying Repetitive Control with Application to a Walking Piezo Actuator

    August, 2011
    R.J.E. Merry, D.J. Kessels, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
    Automatica 47(8), p. 1737-1743

  • Stability Analysis of Networked Control Systems Using a Switched Linear Systems Approach

    September, 2011
    M.C.F. Donkers, W.P.M.H. Heemels, N. van de Wouw and L.L. Hetel
    IEEE Transactions on Automatic Control 56(9), p. 2101-2115

  • Periodic Event-Triggered Control Based on State Feedback

    December, 2011
    W.P.M.H. Heemels, M.C.F. Donkers and A.R. Teel
    IEEE Conference on Decision and Control (CDC) 2011, Orlando, USA, p. 2571-2576

  • On the Minimum Attention Control Problems for Linear Systems: A Linear Programming Approach

    December, 2011
    M.C.F. Donkers, P. Tabuada and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2011, Orlando, USA, p. 4717-4722

2010

  • Networked Control Systems with Communication Constraints: Tradeoffs between Transmission Intervals, Delays and Performance

    February, 2010
    W.P.M.H. Heemels, A.R. Teel, N. van de Wouw and D. Nesic
    IEEE Transactions on Automatic Control 55(8), p. 1781-1796

  • On Polytopic Inclusions as a Modeling Framework for Systems with Time-Varying Delays

    March, 2010
    R. Gielen, S. Olaru, M. Lazar, W.P.M.H. Heemels, N. van de Wouw and S. Niculescu
    Automatica 46(3), p. 615-619

  • Controller Synthesis for Networked Control Systems

    October, 2010
    M.B.G. Cloosterman, L. Hetel, N. van de Wouw, W.P.M.H. Heemels, J. Daafouz and H. Nijmeijer
    Automatica 46(10), p. 1584-1594

  • Comparison of Overapproximation Methods for Stability Analysis of Networked Control Systems

    April, 2010
    W.P.M.H. Heemels, N. van de Wouw, R.H. Gielen, M.C.F. Donkers, L. Hetel, S. Olaru, M. Lazar, J. Daafouz and S.I. Niculescu
    Hybrid Systems: Computation and Control (HSCC) 2010, Stockholm, Sweden, p. 181-191

  • Output-Based Event-Triggered Control with Guaranteed L_inf-gain and Improved Event-Triggering

    December, 2010
    M.C.F. Donkers and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2010, Atlanta, USA, p. 3246-3251

  • Alternative frequency-domain stability criteria for discrete-time networked systems with multiple delays

    September, 2010
    W.P.M.H. Heemels, R.J.E. Merry and T.A.E. Oomen
    IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Annecy, France, p. 73-78

  • An Approach to Observer-Based Decentralized Control under Periodic Protocols

    June, 2010
    N.W. Bauer, M.C.F. Donkers, W.P.M.H. Heemels and N. van De Wouw
    American Control Conference (ACC) 2010, Baltimore, USA, p. 2125-2131

  • Stability Analysis for Nonlinear Networked Control Systems: A Discrete-time Approach

    December, 2010
    N. Van De Wouw, D. Nesic and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2010, Atlanta, USA, p. 7557-7563

  • On Dropout Modelling for Stability Analysis of Networked Control Systems

    June, 2010
    J. van Schendel, M.C.F. Donkers, W.P.M.H. Heemels and N. Van De Wouw
    American Control Conference (ACC) 2010, Baltimore, USA, p. 555-561

  • Stability Analysis of Networked Control Systems: A Sum of Squares Approach

    December, 2010
    N.W. Bauer, P. Maas and W.P.M.H. Heemels
    IEEE Conference on Decision and Control (CDC) 2010, Atlanta, USA, p. 2384-2389

  • A Model Predictive Control Approach for Stochastic Networked Control Systems

    September, 2010
    D. Bernardini, M.C.F. Donkers, A. Bemporad and W.P.M.H. Heemels
    IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Annecy, France, p. 7-12

  • On Integration of Event-based Estimation and Robust MPC in a Feedback Loop

    April, 2010
    J. Sijs, M. Lazar and W.P.M.H. Heemels
    Hybrid Systems: Computation and Control (HSCC) 2010, Stockholm, Sweden, p. 31-41

  • Networked Control Systems

    2010
    A. Bemporad, W.P.M.H. Heemels and M. Johansson (Eds.)
    Springer "Lecture notes in control and information sciences book link" 406

  • Networked Control Systems

    2010
    W.P.M.H. Heemels and N. van de Wouw
    in "Lecture notes in control and information sciences", Springer 406, p. 203-253

2009

  • Stability of Networked Control Systems with Uncertain Time-varying Delays

    June, 2009
    M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    IEEE Transactions on Automatic Control 54(7), p. 1575-1580

  • Comparison of Stability Characterisations for Networked Control Systems

    December, 2009
    L. Hetel, M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels, J. Daafouz and H. Nijmeijer
    IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 7911-7916

  • Networked and Quantized Control Systems with Communication Delays

    December, 2009
    W.P.M.H. Heemels, D. Nesic, A.R. Teel and N. van de Wouw
    IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 7929-7935

  • Networked control systems with communication constraints: tradeoffs between sampling intervals and delays

    August, 2009
    W.P.M.H. Heemels, A.R. Teel, N. van de Wouw and D. Nesic
    European Control Conference (ECC) 2009, Budapest, Hungary

  • Stability Analysis of Networked Control Systems using a Switched Linear Systems Approach

    2009
    M.C.F. Donkers, L.L. Hetel, W.P.M.H. Heemels, N. van de Wouw and M. Steinbuch
    in "Lecture Notes in Computer Science, 12th International Conference on Hybrid Systems: Computation and Control 2009, San Francisco, USA", Springer 5469, p. 150-164

2008

  • Analysis of event-driven controllers for linear systems

    April, 2008
    W.P.M.H. Heemels, J.H. Sandee and P.P.J. van den Bosch
    International Journal of Control 81(4), p. 571-590

  • Stabilization of networked control systems with large delays and packet dropouts

    June, 2008
    M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    American Control Conference (ACC) 2008, Seattle, USA, p. 4991-4996

  • Control over Communication Networks: Modeling, Analysis, and Synthesis

    2008
    M.B.G. Cloosterman
    Eindhoven University of Technology "PhD Thesis"

2007

  • Stability of networked control systems with large delays

    December, 2007
    M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 5017-5022

  • Analysis and experimental validation of a sensor-based event-driven controller

    June, 2007
    J.H. Sandee, W.P.M.H. Heemels, S.B.F. Hulsenboom and P.P.J. van den Bosch
    American Control Conference (ACC) 2007, New York, USA, p. 2867-2874

  • Analysis and experimental validation of a sensor-based event-driven controller

    2007
    J.H. Sandee, W.P.M.H. Heemels, S.B.F. Hulsenboom and P.P.J. van den Bosch
    Philips Conference on Applications of Control Technology (PACT) 2007, Eindhoven, The Netherlands

  • Case studies in event-driven control

    2007
    J.H. Sandee, W.P.M.H. Heemels and P.P.J. v.d. Bosch
    in "Lecture Notes in Computer Science. 10th International Workshop on Hybrid Systems: Computation and Control 2007, Pisa, Italy", Springer, p. 762-765

2006

  • Robust stability of networked control systems with time-varying network-induced delays

    December, 2006
    M.B.G. Cloosterman, N. van de Wouw, W.P.M.H. Heemels and H. Nijmeijer
    IEEE Conference on Decision and Control (CDC) 2006, San Diego, USA, p. 4980-4985

  • Practical stability of perturbed event-driven controlled linear systems

    June, 2006
    W.P.M.H. Heemels and J.H. Sandee
    American Control Conference (ACC) 2006, Minneapolis, USA, p. 4379-4386

  • Analysis and experimental validation of processor load for event-driven controllers

    October, 2006
    J.H. Sandee, P.M. Visser and W.P.M.H. Heemels
    International Conference on Control Applications (CCA) 2006, Munich, Germany, p. 1879-1884

  • Event-Driven Control in Theory and Practice: Tradeoffs in Software and Control Performance

    2006
    J.H. Sandee
    Eindhoven University of Technology "PhD Thesis"

2005

  • Event-driven control as an opportunity in the multidisciplinary development of embedded controllers

    June, 2005
    J.H. Sandee, W.P.M.H. Heemels and P.P.J. van den Bosch
    American Control Conference (ACC) 2005, Portland, USA, p. 1776-1781

2003

  • Control of quantized linear systems: an l1-optimal control approach

    June, 2003
    W.P.M.H. Heemels, H. Siahaan, A.L. Juloski and S. Weiland
    American Control Conference (ACC) 2003, Denver, USA, p. 3502-3507

  • State estimation for systems with varying sampling rates

    December, 2003
    M. Schinkel, W.P.M.H. Heemels and A.L. Juloski
    IEEE Conference on Decision and Control (CDC) 2003, Hawaii, USA, p. 143-148

2001

  • Asynchronous measurement and control: motor synchronization for mailing systems

    June, 2001
    W.P.M.H. Heemels, R.J.A. Gorter, P.P.J. van den Bosch and S. Weiland
    American Control Conference (ACC) 2001, Arlington, USA, p. 1708-1709

1999

  • Asynchronous measurement and control: a case study on motor synchronisation

    1999
    W.P.M.H. Heemels, R.J.A. Gorter, A. van Zijl, P.P.J. v.d. Bosch, S. Weiland, W.H.A. Hendrix and M.R. Vonder
    Control Engineering Practice 7(12), p. 1467-1482