SEVENTH ANNUAL WORKSHOP

Advances and Success Stories of

Robust and Adaptive Control
0809 September 2017
Department of Aerospace Engineering, Indian Institute of Science (IISc), Bangalore

DAY1
08.45 09.15 REGISTRATION & COFFEE
09.15 09.30 Inauguration
09.30 10.15 Koshy George Multiple Models for Control and Signal Processing
10.15 11.00 P. S. V. Nataraj Robust Control using QFT
11.00 11.30 COFFEE
08 11.30 12.15 Dipankar Deb Modeling and Adaptive Control of Microbial Fuel Cells
Sep Constrained Nonlinear and Neuro-Adaptive Control
12.15 01.00 R. Padhi
with Barrier Lyapunov Function and Gradient Learning
FRI 01.00 02.00 LUNCH
02.00 03.15 AGM of the Society
Uncertainty handling and Robust Control techniques in
03.15 04.00 Rajeeb Dey
LMI framework: Some Applications
04.00 04.30 COFFEE
Game Theoretic Framework of Robust Control &
04.30 05.15 R. Ayyagari
Applications
05.15 06:00 R. K. Yedavalli Robust Control of Aerospace Systems in Linear State
Space Framework
DAY2
Robustness of Adaptive Control from a Classical
09.00 09.45 Vijay V. Patel
Perspective
09.45 10.30 M. S. Bhat Robust control of Aerospace Vehicles
10.30 11.00 Felicitation to Prof. M. S. Bhat
11.00 11.15 A. K. Sarkar Preparation about 2018 ACODS in Hyderabad
11.15 11.45 COFFEE
11.45 12.30 M. Kothari Robust Control of Variable-Pitch Quadrotor Helicopters
09 12.30 01.00 Vivek Raju Developing Autonomous Systems with MATLAB and
Sep Simulink
01.00 02.00 LUNCH
SAT 02.00 02.45 A. Pashilkar Flight Control of Fixed Wing Aircraft using Backstepping
Robust Attitude Control of Momentum Biased
02.45 03.30 Vinod Kumar
Spacecraft
03.30 04.00 COFFEE
Fundamental Trade-Offs in Robust Control with
04.00 05.00 Tamer Basar
Heterogeneous Uncertainty
05.00 05.30 Feedback & Valediction
05.30 06.00 High Tea
 Abstracts and Biographies
08-Sept-2017

Prof. Koshy George, PES University, Bangalore

Title: Multiple Models for Control and Signal Processing
Abstract: The past decades have witnessed an exploding interest in the modelling and analysis of
complex systems in the presence of substantial uncertainty, time-variations and non-
linearity. Multiple models emerged motivated by the ability of living organisms to cope
easily and effectively with such problems. Intelligent systems improvise, create a wide
repertoire of behaviors for different situations, and evolve on the fly. In the 1990s, this
took the form of multiple models to describe the different situations with controllers
which perform satisfactorily in each one of them, switch to the best solution at that
instant, and adapt from that point. This procedure has evolved into a general
methodology applicable for the intelligent control of deterministic, stochastic, and
nonlinear systems. A few years ago, the information gathered by these multiple adaptive
models was used at a second level for rapid identification. This lecture reviews the initial
developments in the multiple model methodology and discusses recent applications of
multiple models to control robust and adaptive as well as indicates some of the
applications in signal processing.
Biography:

Dr. Koshy George obtained his BE, MS (by Research), and Ph.D from the University of
Mysore, IIT Madras, and IISc, Bangalore. He has held postdoctoral positions at Seoul
National University, Korea, Delft University of Technology, The Netherlands, and Yale
University, USA. He joined the then PES Institute of Technology in 2006, and is now
presently a Professor at PES University. He also directs the activities of the PES Centre
for Intelligent Systems which was set up in 2007. His research interests are primarily in
adaptation and nonlinear systems.

Prof. P S V Nataraj, IIT Bombay

Title: Robust Control using Quantitative Feedback Theory
Abstract: This talk gives a brief introduction to a robust control technique, called as Quantitative
Feedback Theory (QFT). QFT is a frequency domain technique, based on extended
classical control techniques. Firstly, we shall see the basic steps of QFT method, and then
a few applications to aerospace applications. Lastly, we shall see a few more applications
to process control and electro-mechanical systems.
Biography:
Dr. Paluri S. V. Nataraj is a Professor of Systems and Control Engg Group at IIT
Bombay. He joined the faculty of the Systems and Control Engineering Group at IIT
Bombay in 1988. He has been involved in teaching and research for about 30 years at
IIT Bombay. His current research interests are in the areas of Global Optimization,
Supercomputing, and Robust Control. He was nominated in 2014 as a member of the General Electric
(GE) learning advisory board for Africa, and as an academic member of the APEX committee for Gas
Turbine Technology Initiative (GATET) of DRDO, India. He is also on the national steering committee for
DEITYs indigenous MRI machine (IMRI) from Feb 2015 under Make in India initiative. In 2016, Prof.
Nataraj was nominated as an expert member of National Supercomputing Mission HR group, and is
currently the chairperson of the curriculum sub-committee for supercomputing, and also the
chairperson for the nodal center sub-committee. Prof. Nataraj has received several awards and honors
for his valuable research contributions.
Prof. Nataraj has conducted many courses for various industries and organizations, such as nuclear
power, space and defense research organizations. He worked on several projects for these
organizations and other industries. He gave numerous invited talks in North and South America, Europe,
and Africa in areas such as optimization, reliable computing, and control.

Dr. Dipankar Deb, IITRM, Ahmedabad

Title: Modeling and Adaptive Control of Microbial Fuel Cells
Abstract: Microbial fuel cells (MFCs) are considered a promising technology to extract energy from
organic compounds and turn them into electricity. Production of electrical energy from
wastewater using MFC can oer an economical solution to the problem of environment
pollution and energy crisis in near future. MFCs are still a challenging technology at
laboratory level and yet to be commercialized signicantly. Mathematical models are
required to obtain a relationship between parameters, inputs, outputs and system
behaviour. Few mathematical models of MFCs are developed and veried under certain
assumptions and conditions. To obtain an optimal performance of the MFCs, its
operation must be under controlled conditions. MFCs need a control system for balance
across fuel supply, mass, charge, and electrical load. Control-oriented models help in
developing model based control strategies. The enhancement of the advanced control
techniques such as input/output linearization, feedback linearization, model predictive
control, optimal control, PID control, gain scheduling control etc. will apply to the MFCs.
Nonlinear control schemes can handle system uncertainties and on-line parameter
estimation and provide system robustness. Back-stepping is a nonlinear control method
whose key advantage is its ability to handle systems with two or more relative degrees.
In this control scheme, state variables are considered as virtual controls and
intermediate control laws are developed for the respective state variables. An adaptive
action provides the on-line estimation of unknown parameters through adaptive control
laws and adjusts parameter values during the operation. The control objective is to
develop a back-stepping control scheme to achieve an optimal performance of the MFC
while controlling substrate concentration at a particular set point.
Biography:

Dr. Dipankar Deb is an Associate Professor, Electrical Engineering Department,

Institute of Infrastructure Technology Research and Management, Ahmedabad
since July 2015. He obtained PhD degree from University of Virginia USA, in 2008.
He is a selected member of Eta Kappa Nu, the Honor Society of the University of
Virginia. From 2007 to 2010, he worked as a Senior Design Engineer at RSM Electron
Power, Long Island, NY, USA. He has served as an Assistant Professor at Indian
Institute of Technology, Guwahati from 2010 to 2012, and as a Lead Engineer at GE Global Research,
Bengaluru from 2012 to 2015. He has published a total of 35 articles in reputed international journals
and conferences, and holds 6 US and 5 India patents.

Prof. Radhakant Padhi, IISc, Bangalore

Title: Constrained Nonlinear and Neuro-Adaptive Control with Barrier Lyapunov Function
and Gradient Learning

Abstract: Based on the concept of differential geometry and inspired by standard PID design
philosophy, Nonlinear Dynamic Inversion (NDI) has evolved as a simple and promising
nonlinear control design technique that offers a closed form solution for the control in
state feedback form. A persistent problem in almost all control design applications,
however, is to maintain state constraints under closed loop operation. To address this
issue, a Barrier Lyapunov Function based feedback control design approach has been
developed, which interestingly retains the simple NDI form with a state-dependent gain.
In fact, under special conditions, it leads to the standard NDI. Hence, this technique has
been named as Generalized Dynamic Inversion (GDI). This very recent development,
which is yet to appear in the literature (but a paper has been accepted in the upcoming
2018 AIAA SciTech conference), will be outlined in this talk, followed by its application
to a challenging problem of controlling hypersonic (very high speed) aerospace vehicles.
Another potential problem of NDI is the issue of modelling uncertainty. To address this
issue, neuro-adaptive idea has been proposed in the literature over last two decades. A
potential problem that still remains, however, is transient oscillations before the
unknown function in the model is learned. However, a directional learning approach,
where both the unknown function as well as its gradient vector are learned online
simultaneously has been introduced recently by incorporating a Sobolev Norm based
Lyapunov Function. Second part of this talk will expose this philosophy, including its
application to the control of hypersonic vehicles. It can be mentioned here that this
approach has also been applied to other applications, such as automatic landing of UAVs,
control of Quadrotors, Wing-rock suppression etc.
Biography:

Dr. Radhakant Padhi is currently working as a Professor in the Department of

Aerospace engineering, IISc, Bangalore. He earned his Masters in Aerospace
Engineering from IISc in 1996 and subsequently served as a DRDO scientist for a year
in RCI Hyderabad. He earned his Ph.D. from Missouri University of Science and
Technology Rolla, USA, in 2001. After two years of post-doctoral studies at the
same university, he joined the Indian Institute of Science, Bangalore in December
2003 and is continuing.
Dr. Padhi is an Associate Fellow of AIAA, a Senior Member of IEEE and a Council member of IFAC. He is
also a member of Technical Committee on Aerospace in both IEEE and IFAC. Dr. Padhis main research
interest is on synthesis algorithms in optimal and nonlinear control as well as state estimation. He has
published 55 journal papers and over 155 publications in international conferences. He has contributed
significanly towards various projects of DRDO and ISRO. He was the founding Vice-President of the
Automatic Control and Dynamic Optimization Society (ACDOS), the Indian NMO of the IFAC.

Dr. Rajeeb Dey, NIT, Silchar

Title: Uncertainty handling and Robust Control techniques in LMI framework: Some
Applications
Abstract: For about many decades now aspect of developing measures of stability robustness
for linear uncertain systems with state space description has received significant
attention. In the applications of linear systems theory and practice, one of the challenges
the designer is faced with is to be able to guarantee acceptable behavior of the system
even in the presence of perturbations. The fundamental acceptable behavior of any
control design for linear systems is stability, and accordingly, one of the important
tasks of the designer is to assure stability of the system subject to perturbations. Here
focus will be on parameter uncertainty as the type of the perturbation acting on the
system. This chapter thus addresses the analysis of stability robustness of linear
systems subject to parameter uncertainty. The talk will concentrate on stability analysis
of uncertain linear system (various uncertainty structures) through some electrical
engineering problems to cast the derived sufficient stability conditions in LMI (Linear
matrix inequality) framework. Some basic LMI solvers from Robust control toolbox of
MATLAB will be discussed.
Biography:

Dr. Rajeeb Dey is an Assistant Professor in the Department of Electrical Engineering,

National Institute of Technology (NIT) Silchar, Assam. He did his M.Tech in Control
System Engineering from Indian Institute of Technology (IIT) Kharagpur and PhD in
Control Engineering from Jadavpur University, Kolkata. In 2015 he did his post
doctorate from CINVESTAV-IPN, Mexico-City. Dr. Dey has around 15 years of
experience of teaching undergraduate and post graduate students and has around 25
research publications in reputed International journals and Conferences. Dr. Dey is a Senior Member
IEEE since 2013. He is associated with few professional societies, including ACDOS, as executive
committee member.
Dr. Deys research interest includes Robust Control, Control using LMI techniques, Time-Delay Systems,
Intelligent Control, Control applications in Bio-medical Systems, Power Systems and Power Electronic
systems. He has been awarded post doctorate fellowship by The World Academy of Science, Italy, to
work on complex dynamical systems. He has also worked on AICTE funded research project regarding
output delay feedback control.

Prof. Ramakalyan Ayyagari, NIT, Trichy

Title: Game Theoretic Framework of Robust Control & Applications
Abstract: A considerable part of everything that has been written down, whether it is history,
literature, or a novel, has its central theme a conflict situation a collision of interests.
The scientific approach to the notion of conflict has started around 1930s, with the
formulation of games in extensive form by Von Neumann. One of the major
concentrated activities in control theory, initially formulated by George Zames in 1980s,
has been the development of the so-called H-infinity control theory, which addresses
the issue of worst-case controller design for plants subject to unknown additive
disturbances and plant uncertainties, including problems of disturbance attenuation and
tracking. The merging of the two fields game theory and optimal control theory which
leads to even more concepts and to actual computational schemes, has now achieved a
level of maturity. Among different time-domain approaches to this class of worst-case
design problems, the one that uses the framework of differential game theory seems to
be the most natural, where the controller can be viewed as the minimizing player and
disturbance as the maximizing player. The speaker shares his work in the integration of
the ideas of robustness and reinforcement learning, and also briefly touches upon the
recent advances in the mean-field games and their connections to robust control.
Biography:
Dr. Ramakalyan Ayyagari is currently an associate professor of Instrumentation &
Control Engineering Dept., National Institute of Technology, Tiruchirappalli, India. He
obtained PhD from IIT Delhi in the year 2000 where he worked on dynamic non-
cooperative games and robust control for a class of nonlinear systems. He is deeply
interested in looking into computational problems that arise out of the algebra and
graphs in control theory and applications. Of particular interest are the NP-hard problems and the
Randomized Algorithms. He is a senior member of IEEE and a member of SIAM. He was the founding
secretary and current President of Automatic Control and Dynamic Optimization Society (ACDOS), the
Indian NMO of the IFAC, through which he passionately contributes to controls education in the
country. Currently his research and consultancy projects are a fine balance of theory and practice in the
areas of Model Driven Engineering, Traffic scheduling and decongestion, Nonlinear control, and Fault-
tolerant control. He has also developed a course on Circuit Theory under the Pedagogy project at IIT
Kharagpur. His textbook Linear Circuits: Analysis & Synthesis is sold all over the world by Oxford
University Press.
 Prof. R. K. Yedavalli, Ohio State University, USA

Title: Robust Control of Aerospace Systems in Linear State Space Framework

Abstract: This presentation gives an overview of the research being carried out by Prof. Yedavalli
and his research group on dynamics and control of dynamic systems described by linear
state space models. Noting that this type of systems level research is applicable to a
variety of dynamic systems in different engineering disciplines, specific applications in
aerospace systems are highlighted. In particular, more recent results on robust control
systems analysis and design using Qualitative (Sign) stability concepts borrowed from
the field of ecology are discussed. Using these concepts, the most desirable nominal
closed loop system in state space framework for high degree of stability robustness is
established and controllers are designed to achieve this desired closed loop matrix
structure. In addition, using these ecology principles to linear state space matrices, the
critical stability derivatives for stability are identified and new robust controllers are
designed for aircraft control. Similarly, these concepts are used to design satellite
attitude control systems which are highly robust to real parameter perturbations, with
reduced control effort.

Biography:
Dr. R. K. Yedavalli received his Ph.D degree from the School of Aeronautics and
Astronautics of Purdue University in the Dynamics and Control area in 1981. His
Bachelors and Masters degree were both from the Indian Institute of Science,
Bangalore, India. Currently he is spending his sabbatical at IISc as the Satish Dhawan
Visiting Chaired Professor. Dr. Yedavalli is a Fellow of IEEE, a Fellow of ASME, a Fellow
of American Association for the Advancement of Science (AAAS) and an Associate Fellow
of AIAA. He received the `Distinguished Alumnus Award from the Indian Institute of Science in 2009. In
2002, he also received the `Lumley Research Award by the Ohio State Universitys College of
Engineering. He published a text book with Springer in Jan 2014 titled: Robust Control of Uncertain
Dynamic Systems: A Linear State Space Approach. He is currently authoring an Undergraduate level
textbook on Flight Vehicle Dynamics and Control to be published by Wiley in Dec 2017. He has
published close to 200 Journal, Book chapters and Conference papers and presented invited seminars
on these topics
 Abstracts and Biographies
09-Sept-2017

Dr. V V Patel, ADA, Bangalore

Title: Robustness of Adaptive Control from Classical Control Perspective

Abstract: Research in adaptive control field started with attempts to develop adaptive autopilots
for supersonic aircraft in the mid1950s and it generated a lot of research in industry and
academia. However, a crash of the X-15 led to bad reputation which was mainly
attributed to the adaptive system. In 1980s, for conventional flight control problems
researchers summarized as state of the art adaptive control is losing alternative in a
historical competition with explicit air data scheduling. In the early 1980s Charles Rohrs
constructed an example to demonstrate that the model reference adaptive controller
(MRAC) loses its robustness in the presence of unmodeled dynamics. The analysis and
conclusions in that paper were drawn purely from qualitative considerations, despite the
rigorous proof of the existence of the unbounded gain operators. In this talk Rohrs
example is revisited with the recent developments in adaptive controller and its
robustness from classical control perspective. The recent developments in adaptive
control show great promise, but only time will tell if it will be a viable alternative to gain
scheduling flight control.

Biography:

Dr. Vijay V. Patel is currently Group Director (Flight Control Laws- LCA Airforce) and
is member of the National Control Law Team since 1995. Dr. Patel obtained his PhD
in the area of robust control from IIT Kharagpur in 1995 and did his post-doctoral
research at Virginia Tech, USA (2006-2007) in the areas of L1 adaptive flight control,
coordinated path following for UAVs and adaptive flight control design for UCAVs. Dr.
Patel has published 70 technical papers in peer reviewed international journals and conferences. He is
recipient of INSA Young Scientist Award (2001), INAE Young Engineer Award (2004), DRDO Scientist
of the year (2013) Award and other awards from ISCA, NAL, DRDO. Dr. Patel is responsible for
development of LCA flight control laws features for carefree maneuvering. His major contributions
include the successful design and development of flight control algorithms, design of structural notch
filters, verification of the flight control system performance. He was also responsible for estimation of
aerodynamic coefficients from flight test data using nonlinear parameter estimation techniques which
enabled flight validation of the aerodynamic data, thereby allowing the aircraft to expand its flight
envelope to lower speeds and higher angles of attack. He played a major role in developing boundary
limiting features in flight control laws which in turn enabled to expand the flight envelope safely, more
rapidly without compromising safety.
 Prof. M. Seetharama Bhat, IISc., Bangalore

Title: Robust control of Aerospace Vehicles.

Abstract: This talk focuses on robust control of Aerospace vehicles based on H2 & H-infinity,
Variable Structure Systems, and possibly adaptive techniques. There will also be a brief
account of robust Eigenstructure assignment.
Biography:

Prof. M. S. Bhat has been with the Indian Institute of Science for over four decades
as an undergraduate in 1975, through 2017 (including as Dept. Chairman and
Satish Dhawan Chair Professor during 2009-12) and has richly contributed to the
Indian Aerospace and Defense in the areas of Guidance and Control of Aerospace
Vehicles, Dynamics and Control of Smart Structures, Thrust Vectoring, Estimation
techniques, Integrated navigation & guidance control systems. He has guided 24
PhDs and 40 Masters students and has numerous significant research publications. He has carried out
research projects to the tune of Rs. 3.2 Crores.
Prof. Bhat was the founding president of the Automatic Control and Dynamic Optimization Society
(ACDOS), the Indian NMO of the International federation of Automatic Control (IFAC).

Dr. Mangal Kothari, IIT Kanpur

Title: Robust Control of Variable-Pitch Quadrotor Helicopters

Abstract: The talk presents a nonlinear control design for a variable-pitch quadrotor helicopter.
Unlike conventional quadrotors, the thrust actuation in variable-pitch quadrotor is
achieved by collectively changing the pitch angle of the blades of each rotor. The rotors
are powered by a single power plant and hence operate at identical rotor speed. The
challenge associated with the control design for variable-pitch quadrotor, due to the
nonlinear relationship between blade pitch angle and rotor reaction torque, is overcome
by introducing a control allocation loop. The control allocation loop dynamically
computes the blade pitch angle required to generate desired rotor thrust and moment
necessary for stabilization and control. Back-stepping approach is chosen for control
design as it is inherently robust to model uncertainties and can handle under actuation
effectively. The controller uses a cascade structure to achieve position and attitude
control. The performance of the control design is first verified through simulation. The
proposed control law is then implemented on a PixHawk open source autopilot board
and the performance of the controller is demonstrated through flight tests performed
on an off-the-shelf variable-pitch quadrotor.
Biography:

Dr. Mangal Kothari received the Bachelor of Engineering (B.E.) degree in Electronics
Instrument and Control Engineering from the University of Rajasthan, India, in 2004.
He received the Master of Science (M.Sc. Engg.) degree in Aerospace Engineering from
the Indian Institute of Science, Bangalore, India, in 2006 and the Ph.D. degree in Control
Engineering from the University of Leicester, UK, in 2011. He is currently an Assistant
Professor in the Department of Aerospace Engineering, Indian Institute of Technology
Kanpur. His research interests include optimal control, nonlinear and adaptive control, flight vehicle
guidance and control, cooperative, and motion planning.

Vivek Raju, Mathworks, Bangalore

Title: Developing Autonomous Systems with MATLAB and Simulink
Abstract: Image and vision, radar, EOIR, IMU, and a combination of sensor technologies are all
used to automate aspects of autonomous systems. Critical functions such as object and
collision detection, path and motion planning, spatial localization and mapping are
designed using advanced concepts including sensor fusion and machine learning to drive
guidance, navigation, and control (GNC) algorithms. To develop these complex
multidomain autonomous systems, engineers must analyze the behavior of mechanical
and electrical subsystems, sensor and perception algorithms, and controls as an
integrated platform, and deploy to the actual hardware. In this session, you will learn
how using Model-Based Design with MATLAB and Simulink can help you address these
challenges. Using a quadrotor, Vivek will show how to:
Model environmental effects and 6DOF aircraft simulations
Develop and implement flight controls algorithms
Design and test vision, radar, and IR perception algorithms
Perform sensor fusion and controls development
Connect MATLAB and Simulink to ROS environment
Biography:
Mr. Vivek Raju is an application engineer with MathWorks India, specializing in control
design and automation. He closely interacts with customers in different industries to
help them use MATLAB and Simulink products for physical modeling and control
design. Prior to joining MathWorks, Vivek worked as an embedded software engineer
at GE Transportation, where he gained expertise in control design and real-time operating systems.
Vivek holds a bachelors degree in electrical engineering from Bannari Amman Institute of Technology,
Sathyamangalam, and a masters degree in power systems from Government College of Technology,
Coimbatore.
 Dr. Abhay Pashilkar, NAL, Bangalore
Title: Flight Control of Fixed Wing Aircraft Using Back-stepping
Abstract: In this talk the speaker will present insights gleaned from the rigid body equations of
motion for fixed wing aircraft to develop a generic structure for its flight control laws.
The well-known backstepping method of nonlinear control law design is shown to be a
logical outcome of this study. The benefits of this approach are that the proportional
gains suggest themselves. The nonlinear feedback terms which address the control
requirements of a high performance fighter aircraft are also derived in a natural manner.
The process of gain scheduling for such a flight control law can be significantly simplified
by the examination of the aerodynamic characteristics of typical fighter aircraft.
Biography:

Dr. Abhay Pashilkar is a graduate of Aerospace Engineering of the 1991 batch from
the Indian Institute of Technology Kharagpur. He completed his ME from the
Aerospace Engineering Department of IISc in 1993. Since then he is with the Flight
Mechanics & Control Division of the National Aerospace Laboratories, Bangalore. He
holds a PhD from the Aerospace Engineering Department of IISc in the area of high
angle of attack aerodynamic modeling. His research interests include flight dynamic
modeling, simulation, control and parameter estimation. He is a recipient of the CSIR Young Scientist
Award 2001 and the INAE Young Engineer Award in 2003.

Dr. Vinod Kumar, ISAC/ISRO, Bangalore

Title: Robust Attitude Control of Momentum Biased Spacecraft

Abstract: In this presentation we will discuss robust attitude control of a momentum biased
controlled spacecraft. To begin with we will discuss s/c attitude and orbit control system
(AOCS) fundamentals and methods used for attitude representation. This will be
followed by various spacecraft attitude stabilization schemes. Some aspects of modelling
of spacecraft rotational motion dynamics will be discussed next. This will be followed by
LQG and robust H-infinity design techniques of a three-axis stabilized momentum biased
satellite, along=with simulation results.
Biography:
Dr. Vinod Kumar is Deputy Division Head and Deputy Project Director at Control,
Dynamics and Simulation Group, ISRO Satellite Centre (ISAC), Bengaluru. He is fellow
of the Institution of Engineers, India. He joined ISAC in 1997, where he has been
involved with the design and development of Attitude and Orbit Control Systems of
over three dozen satellites in the last nearly 20 years. He has developed crucial
technologies for satellites and a critical mirror motion compensation technique for ISROs
meteorological satellite series. He has also developed autonomy features for GEO satellites which has
become the backbone of ISROs fleet of spacecraft including Mars Orbiter Mission. Dr. Vinod is a
distinguished alumnus of Indian Institute of Technology, Bombay. In his doctoral research, he
developed autonomous navigation techniques for collocated geostationary satellites at a desired
longitude using Indian Regional Navigation Satellites System (IRNSS/NavIC). He has over 21 publications
in national and international reputed journals and conferences. His additional technical interests
include Terrain navigation, pulsar navigation and interplanetary missions. Before joining the ISAC, he
worked on aircraft control systems and also held a Faculty position at Regional Engineering College,
Haryana.

Prof. Tamer Baar, UIUC, USA

Courtesy: Control Systems Forum
Missouri University of Science and Technology
Rolla, MO, USA

Title: Fundamental Trade-Offs in Robust Control with Heterogeneous Uncertainty

Abstract: The paradigm of networked control systems, where the feedback loop is closed over
heterogeneous networks, has opened up a vast number of opportunities for applications
in different fields while creating also a number of challenges with regard to reliability,
robustness, and security of control operations. This talk will address these challenges,
where networks providing sensor measurements to controller(s) and those carrying
control signals to the plant as well as the plant itself are vulnerable to stochastic as well
as adversarial disturbances and sporadic failure of channel connectivity. The question of
interest is the extent to which the plant, measured in terms of a performance metric,
can tolerate such disturbances and failures, which themselves are also quantified in
terms of some appropriate metrics.
Following a general overview of networked control problems, the talk will focus on
linear-quadratic systems, with norm-bounded deterministic (adversarial) disturbance
inputs and hybrid stochastic uncertainty, both of which impact network channels, where
the latter is characterized by additive Gaussian noise and Bernoulli type failures. Explicit
results for both the estimation problem and the control problem will be discussed under
the TCP (Transmission Control Protocol) type information structure (which leads to
certainty-equivalance, but not to separation of estimation and control), and the trade-
offs between control performance, disturbance energy, and channel failure rates (that
is, channel reliability) will be quantified. Under the UDP (User Datagram Protocol) type
packet loss acknowledgement process, on the other hand, there is no certainty-
equivalance, but still some trade-off results can be obtained. The talk will conclude with
a discussion of future directions of research in this topical area and the challenges that
lie ahead.
Biography:

Dr. Tamer Baar has been with the University of Illinois at Urbana-Champaign since
1981, where he holds the academic positions of Swanlund Endowed Chair; Center for
Advanced Study Professor of Electrical and Computer Engineering; Professor,
Coordinated Science Laboratory; Professor, Information Trust Institute; and Affiliate
Professor, Mechanical Sciences and Engineering. He is also the Director of the Center
for Advanced Study. He is a member of the US National Academy of Engineering and the
European Academy of Sciences; Fellow of IEEE, IFAC, and SIAM; a past president of the IEEE Control
Systems Society (CSS), the founding president of the International Society of Dynamic Games (ISDG),
and a past president of the American Automatic Control Council (AACC). He has received several awards
and recognitions over the years, including the highest awards of IEEE CSS, IFAC, AACC, and ISDG, the
IEEE Control Systems Technical Field Award, and a number of international honorary doctorates and
professorships. Dr. Baar has over 700 publications in systems, control, communications, optimization,
and dynamic games, including books on non-cooperative dynamic game theory, robust control,
network security, wireless and communication networks, and stochastic networks. He is editor of
several book series.