Number of items: **170**.

## 2017

Dathathri, Sumanth and Murray, Richard M.
(2017)
*Decomposing GR(1) Games with Singleton Liveness Guarantees for Efficient Synthesis.*
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechAUTHORS:20170920-152025463

## 2016

Filippidis, Ioannis and Murray, Richard M.
(2016)
*Formalizing synthesis in TLA+.*
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2016.004

Filippidis, Ioannis and Murray, Richard M.
(2016)
*Symbolic construction of GR(1) contracts for systems with full information.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2016.003

Chinchali, Sandeep
and
Livingston, Scott C.
and
Pavone, Marco
et al.
(2016)
*Simultaneous Model Identification and Task Satisfaction in the Presence of Temporal Logic Constraints.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2016.002

Dathathri, Sumanth
and
Livingston, Scott C.
and
Reder, Leonard J.
et al.
(2016)
*Interfacing TuLiP with the JPL Statechart Autocoder: Initial progress toward synthesis of flight software from formal specifications.*
California Institute of Technology
, Pasadena, CA.
http://resolver.caltech.edu/CaltechCDSTR:2016.001

## 2015

Livingston, Scott C.
(2015)
*Time-annotated game graphs for synthesis from abstracted systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2015.005

Filippidis, Ioannis and Murray, Richard M.
(2015)
*Revisiting the AMBA AHB bus case study.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2015.004

Filippidis, Ioannis and Murray, Richard M. and Holzmann, Gerard J.
(2015)
*Synthesis from multi-paradigm specifications.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2015.003

Livingston, Scott C. and Wolff, Eric M. and Murray, Richard M.
(2015)
*Cross-entropy Temporal Logic Motion Planning.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2015.002

Raman, Vasumathi
and
Fält, Mattias
and
Wongpiromsarn, Tichakorn
et al.
(2015)
*Online Horizon Selection in Receding Horizon Temporal Logic Planning.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2015.001

## 2014

Livingston, Scott C. and Murray, Richard M.
(2014)
*Hot-swapping robot task goals in reactive formal synthesis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2014.001

## 2013

Wolff, Eric M. and Murray, Richard M.
(2013)
*Optimal Control of Mixed Logical Dynamical Systems with Long-Term Temporal Logic Specifications.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2013.001

Han, Shuo
and
Topcu, Ufuk
and
Tao, Molei
et al.
(2013)
*Convex optimal uncertainty quantification: Algorithms and a case study in energy storage placement for power grids.*
In:
2013 American Control Conference (ACC).
IEEE
, Piscataway, NJ, pp. 1130-1137.
ISBN 978-1-4799-0177-7.
http://resolver.caltech.edu/CaltechCDSTR:2012.002

## 2012

Spooner, Nicholas
(2012)
*Evaluation and Benchmarking for Robot Motion Planning Problems Using TuLiP.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2012.007

Censi, Andrea and Nilsson, Adam and Murray, Richard M.
(2012)
*Motion planning in observations space with learned diffeomorphism models.*
, Pasadena, CA.
http://resolver.caltech.edu/CaltechCDSTR:2012.004

Livingston, Scott C.
and
Prabhakar, Pavithra
and
Jose, Alex B.
et al.
(2012)
*Patching task-level robot controllers based on a local µ-calculus formula.*
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2012.003

Zhao, Changhong and Topcu, Ufuk and Low, Steven H.
(2012)
*Swing Dynamics as Primal-Dual Algorithm for Optimal Load Control.*
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2012.001

Censi, Andrea
and
Straw, Andrew D.
and
Sayaman, Rosalyn
et al.
(2012)
*Discriminating external and internal causes for heading changes in freely flying Drosophila.*
California Institute of Technology
, Pasadena, CA.
http://resolver.caltech.edu/CaltechAUTHORS:20121130-085703335

## 2011

Zhao, Changhong and Topcu, Ufuk and Low, Steven H.
(2011)
*Fast Load Control with Stochastic Frequency Measurement.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.010

Wolff, Eric M. and Topcu, Ufuk and Murray, Richard M.
(2011)
*Robust Control of Uncertain Markov Decision Processes with Temporal Logic Specifications.*
California Institute of Technology
, USA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.008

Zhao, Changhong and Topcu, Ufuk and Low, Steven H.
(2011)
*Frequency-based load control in power systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.007

Liu, Jun
and
Ozay, Necmiye
and
Topcu, Ufuk
et al.
(2011)
*Synthesis of Switching Protocols from Temporal Logic Specifications.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.006

Censi, Andrea and Murray, Richard M.
(2011)
*Bootstrapping, uncertain semantics, and invariance.*
Caltech
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.004

Censi, Andrea and Murray, Richard M.
(2011)
* A group-theoretic approach to formalizing bootstrapping problems.*
Caltech
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.005

de la Puente, Paloma and Censi, Andrea
(2011)
*Dense map inference with user-defined priors: from priorlets to scan eigenvariations.*
Caltech
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.002

Gan, Lingwen and Topcu, Ufuk and Low, Steven H.
(2011)
*Stochastic Distributed Protocol for Electric Vehicle Charging with Discrete Charging Rate.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.011

## 2010

Gan, Lingwen and Topcu, Ufuk and Low, Steven
(2010)
*Optimal Decentralized Protocols for Electric Vehicle Charging.*
California Institute of Technology
, Pasadena, USA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2011.009

Lavaei, Javad
(2010)
*Decentralized Implementation of Centralized Controllers for Interconnected Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2010.005

Censi, Andrea and Murray, Richard M.
(2010)
*Bootstrapping bilinear models of robotic sensorimotor cascades.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2010.003a

Lavaei, Javad and Low, Steven
(2010)
*Zero Duality Gap in Optimal Power Flow Problem.*
California Institute of Technology
, Pasadena, CA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2010.004

Lavaei, Javad and Sojoudi, Somayeh and Murray, Richard M.
(2010)
*Delay-Based Controller Design for Continuous-Time and Hybrid Applications.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2010.002

Han, Shuo
and
Censi, Andrea
and
Straw, Andrew D.
et al.
(2010)
*A bio-plausible design for visual pose stabilization.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2010.001

## 2009

Tonetti, Stefania and Murray, Richard M.
(2009)
*Limits on the Network Sensitivity Function for Multi-Agent Systems on a Graph.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2009.001

## 2008

Wongpiromsarn, Tichakorn
and
Mitra, Sayan
and
Murray, Richard M.
et al.
(2008)
*Periodically Controlled Hybrid Systems: Verifying A Controller for An Autonomous Vehicle.*
California Institute of Technology
, Pasadena, CA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2008.003

Or, Yizhar and Ames, Aaron D.
(2008)
*Stability of Zeno Equilibria in Lagrangian Hybrid Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2008.002

## 2007

Braman, J. M. B. and Murray, R. M.
(2007)
*Conversion and verification procedure for goal-based control programs.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2007.001

## 2006

Chen, Lijun
and
Ho, Tracey
and
Low, Steven
et al.
(2006)
*Rate Control for Multicast with Network Coding.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2006.004

Waydo, Stephen and Klavins, Eric
(2006)
*Verification of an Autonomous Reliable Wingman using CCL.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2006.001

## 2004

Gupta, Vijay
and
Chung, Timothy H.
and
Hassibi, Babak
et al.
(2004)
*On a stochastic sensor selection algorithm with applications in sensor scheduling and sensor coverage.*
California Institute of Technology
, Pasadena, USA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2004.008

Gupta, Vijay
and
Spanos, Demetri
and
Hassibi, Babak
et al.
(2004)
*Optimal LQG Control Across a Packet-Dropping Link.*
California Institute of Technology
, Pasadena, USA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2004.007

Gupta, Vijay and Hassibi, Babak and Murray, Richard M.
(2004)
*A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents.*
California Institute of Technology
, Pasadena, USA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2004.006

Olfati-Saber, Reza
(2004)
*Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory.*
California Institute of Technology
, Pasadena, CA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:2004.005

Alderson, David L.
(2004)
*Technological and Economic Drivers and Constraints in the Internet's "Last Mile".*
California Institute of Technology
, Pasadena, CA, USA..
http://resolver.caltech.edu/CaltechCDSTR:2004.004

Dunbar, William B. and Murray, Richard M.
(2004)
*Distributed Receding Horizon Control with Application to Multi-Vehicle Formation Stabilization.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2004.003

## 2003

Olfati-Saber, Reza and Murray, Richard M.
(2003)
*Agreement Problems in Networks with Directed Graphs and Switching Topology.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.005

Gupta, Vijay
(2003)
*Decentralized Analysis of Stability of Stochastically Varying Formations of Dynamic Agents.*
California Institute of Technology
.
http://resolver.caltech.edu/CaltechCDSTR:2003.013

Dunbar, William B. and Klavins, Dr. Eric and Waydo, Stephen
(2003)
*Feedback Controlled Software Systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.002

Martin, Phillipe and Murray, Richard M. and Rouchon, Pierre
(2003)
*Flat systems, equivalence and trajectory generation.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.008

Olfati-Saber, Dr. Reza
(2003)
*Flocking with Obstacle Avoidance.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.006

Fax, J. Alexander and Murray, Richard M.
(2003)
*Information Flow and Cooperative Control of Vehicle Formations.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.012

Olfati-Saber, Dr. Reza
(2003)
*A Unified Analytical Look at Reynolds Flocking Rules.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.014

Waydo, Stephen
(2003)
*Vehicle Motion Planning Using Stream Functions.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2003.001

## 2001

Gonçalves, Jorge M.
(2001)
*ℒ2-Gain of Double Integrators with Saturation Nonlinearity.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2001.011

Fax, J. Alexander and Murray, Richard M.
(2001)
*Graph Laplacians and Stabilization of Vehicle Formations.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2001.01-007

## 2000

Zhu, Xiaoyun and Yu, Jie and Doyle, John
(2000)
*Heavy-Tailed Distributions, Generalized Source Coding and Optimal Web Layout Design.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:2000.001

## 1999

Murray, Richard M.
(1999)
*Geometric Approaches to Control in the Presence of Magnitude and Rate Saturations.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1999.CIT-CDS-99-001

## 1998

Muruhan, Rathinam and Murray, Richard M.
(1998)
*Discrete Function Approximation: Numerical Tools for Nonlinear Control.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1998.CIT-CDS-98-009

Yeung, S. and Wang, Y. and Murray, R. M.
(1998)
*Evaluation of Bleed Valve Rate Requirements in Nonlinear Control of Rotating Stall on Axial Flow Compressors.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1998.CIT-CDS-98-001

## 1997

Morin, Pascal and Murray, Richard M. and Praly, L.
(1997)
*Nonlinear Rescaling of Control Laws with Application to Stabilization in the Presence of Magnitude Saturation.*
California Institute of Technology
, Pasadena, CA.
(Submitted)
http://resolver.caltech.edu/CaltechCDSTR:1997.014

Sur, Sudipto
(1997)
*Robotic manipulation with flexible link fingers.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.011

Zenkov, Dmitry V. and Bloch, Anthony M. and Marsden, Jerrold E.
(1997)
*The Energy-Momentum Method for the Stability of Nonholonomic Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.010

Feng, Xiaolin and Liu, Wenhai
(1997)
*Robot autonomous navigation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.009

Jönsson, Ulf
(1997)
*A stability criterion for systems with neutrally stable modes and deadzone nonlinearities.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.007

Rathinam, Muruhan
(1997)
*Differentially flat nonlinear control systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.008

Shapiro, Benjamin
(1997)
*Solving the Optimal Mistuning Problem by Symmetry: A General Framework for Extending Flutter Boundaries in Turbomachines via Mistuning.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.004

van Nieuwstadt, Michiel J. and Murray, Richard M.
(1997)
*Real Time Trajectory Generation for Differentially Flat Systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-96-017

Murray, Richard M.
and
Jacobsen, C.A.
and
Casas, R.
et al.
(1997)
*System Identification for Limit Cycling Systems: A Case Study for Combustion Instabilities.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-97-012

Bullo, Francesco and Murray, Richard M.
(1997)
*Tracking for Fully Actuated Mechanical Systems: A Geometric Framework.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.CIT-CDS-97-003

Nevistić, Vesna and Primbs, James A.
(1997)
*Finite Receding Horizon Linear Quadratic Control: A Unifying Theory for Stability and Performance Analysis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.001

## 1996

Nevistić, Vesna and Primbs, James A.
(1996)
*Constrained nonlinear optimal control: a converse HJB approach.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.021

Primbs, James A. and Nevistić, Vesna
(1996)
*Optimality of nonlinear design techniques: A
converse HJB approach.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.022

Marsden, Jerrold E. and Koon, Wang-Sang
(1996)
*The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.020

Lu, Wei-Min and Packard, Andy
(1996)
*Adaptive ℋ∞-control for nonlinear systems: a dissipation theoretical approach.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.019

Rathinam, Muruhan and Murray, Richard M.
(1996)
*Configuration Flatness of Lagrangian Systems Underactuated by One Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.018

Behnken, Robert L.
(1996)
*Nonlinear Control and Modeling of Rotating Stall in an Axial Flow Compressor.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.014

Wendland, Jeffrey M. and Marsden, Jerrold E
(1996)
*Mechanical integrators derived from a discrete variational principle.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.013

Kothare, Mayuresh V. and Morari, Manfred
(1996)
*Multiplier theory for stability analysis of anti-windup control systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.012

Zhu, Xiaoyun and van Nieuwstadt, Michiel
(1996)
*The Caltech helicopter control experiment.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.009

van Nieuwstadt, Michiel J.
(1996)
*Trajectory generation for nonlinear control systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.011

Blaom, Anthony
(1996)
*Hamiltonian G-Spaces with regular momenta.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.008

Paganini, Fernando
(1996)
*Sets and Constraints in the Analysis Of Uncertain Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.010

D'Andrea, Raffaello
(1996)
*Generalized ℓ2 synthesis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.004

D'Andrea, Raffaello
(1996)
*Necessary and sufficient conditions for robust gain scheduling.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.005

Lewis, Andrew D.
(1996)
*A Symmetric Product for Vector Fields and its Geometric Meaning.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.003

Soatto, Stefano and Perona, Pietro
(1996)
*Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 1: Modeling.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.001

Soatto, Stefano and Perona, Pietro
(1996)
*Reducing "Structure From Motion": a General Framework for Dynamic Vision - Part 2: Experimental Evaluation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.002

D'Andrea, Raffaello and Behnken, Robert L. and Murray, Richard M.
(1996)
*Active Control of an Axial Flow Compressor via Pulsed Air Injection.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-95-029

Rathinam, Muruhan and Murray, Richard M.
(1996)
*Configuration Flatness of Lagrangian Systems Underactuated by One Control.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-006

Lewis, Andrew D. and Murray, Richard M.
(1996)
*Decomposition for Control Systems on Manifolds with an Affine Connection.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-007

Sur, Sudipto and Murray, Richard M.
(1996)
*An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1996.CIT-CDS-96-015

## 1995

Perry, Anthony D.
(1995)
*Hamiltonian G-Spaces with Regular Momenta.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.033

D'Andrea, Raffaello
(1995)
*H-Infinity Optimal Interconnections.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.030

Paganini, Fernando
(1995)
*Robust ℋ2 Performance: Guaranteeing Margins for LQG Regulators.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.031

Zheng, Zhi Qiang (Alex)
(1995)
*Robust Control of Systems Subject to Contraints.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.028

Ostrowski, James Patrick
(1995)
*The Mechanics and Control of Undulatory Robotic Locomotion.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.027

Paganini, Fernando
(1995)
*Robust Stability Under Mixed Time Varying, Time Invariant and Parametric Uncertainty.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.024

Paganini, Fernando
(1995)
*A Set-Based Methodology for White Noise Modeling.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.023

D'Andrea, Raffaello
(1995)
*ℋ∞ optimization with spatial constraints.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.026

Koon, Wang-Sang and Marsden, Jerrold E.
(1995)
*Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reductions.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.022

Marsden, Jerrold E. and Scheurle, Jürgen
(1995)
*Pattern Evocation and Geometric Phases in Mechanical Systems with Symmetry.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.021

D'Andrea, Raffaello
(1995)
*LMI approach to mixed performance objective controllers: application to Robust ℋ2 Synthesis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.020

Rathinam, Muruhan and Sluis, Willem M.
(1995)
*A Test for Differential Flatness by Reduction to Single Input Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.018

Bodenheimer, Robert Edward, Jr.
(1995)
*The Whirling Blade and the Steaming Cauldron.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.019

Lewis, Andrew D.
(1995)
*The Geometry of the Gibbs-Appell Equations and Gauss' Principle of Least Constraint.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.014

Sluis, Willem M. and Tilbury, D. M.
(1995)
*A Bound on the Number of Integrators Needed to Linearize a Two-input Control System.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.013

Bekiaris, Nikolaos
(1995)
*Multiple Steady States in Distillation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.016

Lewis, Andrew D.
(1995)
*Aspects of Geometric Mechanics and Control of Mechanical Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.017

Kothare, Mayuresh V. and Balakrishnan, Venkataramanan and Morari, Manfred
(1995)
*Robust Constrained Model Predictive Control using Linear Matrix Inequalities.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.011

Soatto, Stefano and Perona, Pietro
(1995)
*Depth from Brightness of Moving Images.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.008

Tyler, Matthew L. and Morari, Manfred
(1995)
*Performance Monitoring of Control Systems using Likelihood Methods.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.007

Soatto, Stefano and Perona, Pietro
(1995)
*Motion from "X" by Compensating "Y".*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.009

Soatto, Stefano and Perona, Pietro
(1995)
*Motion from Fixations.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.006

Bodenheimer, Bobby and Bendotti, Pascale and Kantner, Michael
(1995)
*Linear Parameter-Varying Control of a Ducted Fan Engine.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.004

Lewis, Andrew D. and Murray, Richard M.
(1995)
*Configuration Controllability of Simple Mechanical Control Systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-015

Bullo, Francesco and Murray, Richard M. and Sarti, Augusto
(1995)
*Control on the Sphere and Reduced Attitude Stabilization.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-005

van Nieuwstadt, Michiel and Rathinam, Muruhan and Murray, Richard M.
(1995)
*Differential Flatness and Absolute Equivalence.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-94-006

M'Closkey, Robert T. and Murray, Richard M.
(1995)
*Exponential Stabilization of Driftless Nonlinear Control Systems using Homogeneous Feedback.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-012

Sluis, Willem M.
and
Banaszuk, Andrzej
and
Hauser, John
et al.
(1995)
*A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-025

Bloch, A. M.
and
Krishnaprasad, P. S.
and
Marsden, J. E.
et al.
(1995)
*Nonholonomic Mechanical Systems with Symmetry.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-94-013

Tierno, Jorge E.
and
Murray, Richard M.
and
Doyle, John C.
et al.
(1995)
*Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-032

Bullo, Francesco and Murray, Richard M.
(1995)
*Proportional Derivative (PD) Control on the Euclidean Group.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.CIT-CDS-95-010

Bodenheimer, Bobby and Bendotti, Pascale
(1995)
*Optimal Linear Parameter-Varying Control Design for a Pressurized Water Reactors.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.001

Lu, Wei-Min and Doyle, John
(1995)
*Attenuation of Persistent L∞-Bounded Disturbances for Nonlinear Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.002

M'Closkey, Robert Thomas, III
(1995)
*Exponential Stabilization of Driftless Nonlinear Control Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1995.003

## 1994

Paganini, Fernando
(1994)
*Analysis of Implicit Uncertain Systems. Part II: Constant Matrix Problems and Application to Robust H2 Analysis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.018-2

Paganini, Fernando and Doyle, John
(1994)
*Analysis of Implicit Uncertain Systems. Part I: Theoretical Framework.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.018-1

Beck, Carolyn and Doyle, John and Glover, Keith
(1994)
*Model Reduction of Multi-Dimensional and Uncertain Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.017

Bekiaris, Nikolaos and Meski, George A. and Morari, Manfred
(1994)
*Multiple Steady States in Heterogeneous Azeotropic Distillation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.012

Soatto, Stefano and Perona, Pietro
(1994)
*On the Exact Linearization of Structure From Motion.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.011

Lu, Wei-Min
(1994)
*A State-Space Approach to Parametrization of Stabilizing Controllers for Nonlinear Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.009

Lu, Wei-Min and Doyle, John C.
(1994)
*A State-Space Approach to Robustness Analysis and Synthesis for Nonlinear Uncertain Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.010

Tyler, Matthew L. and Morari, Manfred
(1994)
*Optimal and Robust Design of Integrated Control and Diagnostic Modules.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.008

Soatto, Stefano and Perona, Pietro
(1994)
*Observability/Identifiability of Rigid Motion under Perspective Projection.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.001

Huq, Iftikhar and Morari, Manfred and Sorensen, Ronald
(1994)
*Design and Operational Modifications to Model IV FCCUs to Improve Dynamic Performance.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.007

Soatto, Stefano and Perona, Pietro
(1994)
*Robust and Efficient Recovery of Rigid Motion from Subspace Constraints Solved using Recursive Identification of Nonlinear Implicit Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.005

Soatto, Stefano and Frezza, Ruggero and Perona, Pietro
(1994)
*Dynamic Estimation of Rigid Motion from Perspective Views via Recursive Identification of Exterior Differential Systems with Parameters on a Topological Manifold.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.004

Soatto, Stefano and Frezza, Ruggero and Perona, Pietro
(1994)
*Recursive Estimation of Camera Motion from Uncalibrated Image Sequences.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.003

Soatto, Stefano and Perona, Pietro
(1994)
*Three Dimensional Transparent Structure Segmentation and Multiple 3D Motion Estimation from Monocular Perspective Image Sequences.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.022

Tyler, M. L. and Morari, M.
(1994)
*Estimation of Cross Directional Properties: Scanning versus Stationary Sensors.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.002

Balakrishnan, V. and Zheng, A. and Morari, M.
(1994)
*Constrained Stabilization of Discrete-Time Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.023

Zheng, A. and Morari, M.
(1994)
*Stability of Model Predictive Control with Soft Constraints.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.025

Kelly, Scott D. and Murray, Richard M.
(1994)
*Geometric Phases and Robotic Locomotion.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.CIT-CDS-94-014

Lewis, Andrew D. and Murray, Richard M.
(1994)
*Variational Principles for Constrained Systems: Theory and Experiment.*
California Institute of Technology
.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.CIT-CDS-94-016

Paganini, Fernando
(1994)
*White Noise Rejection in a Deterministic Setting.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1994.015

## 1993

Morari, M.
(1993)
*Model Predictive Control: Multivariable Control Technique of Choice in the 1990s?*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.024

Soatto, Stefano and Frezza, Ruggero and Perona, Pietro
(1993)
*Recursive Motion Estimation on the Essential Manifold.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.021

Lu, Wei-Min and Doyle, John C.
(1993)
*H∞ Control of Nonlinear Systems: A Convex Characterization.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.020

D'Andrea, Raffaello and Paganini, Fernando
(1993)
*Interconnection of Uncertain Behavioral Systems for Robust Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.019

Paganini, Fernando
(1993)
*Set Descriptions of White Noise and Worst Case Induced Norms.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.017

D'Andrea, Raffaello and Paganini, Fernando and Doyle, John C.
(1993)
*Uncertain Behavior.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.018

Young, Peter M.
(1993)
*Controller Design with Real Parametric Uncertainty.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.016

Young, Peter M.
(1993)
*The Rank One Mixed μ Problem and 'Kharitonov-Type' Analysis.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.015

Lu, Wei-Min and Zhou, Kemin and Doyle, John C.
(1993)
*Stabilization of Linear Systems with Structured Perturbations.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.014

Lee, Jay H.
and
Braatz, Richard D.
and
Morari, Manfred
et al.
(1993)
*Robust Control Structure Selection.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.012

Braatz, Richard Dean
(1993)
*Robust Loopshaping for Process Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.010

Braatz, Richard D. and Morari, Manfred
(1993)
*Stability and Performance Analysis of Systems Under Constraints.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.009

Kothare, Mayuresh V.
and
Campo, Peter J.
and
Morari, Manfred
et al.
(1993)
*A Unified Framework for the Study of Anti-Windup Designs.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.011

Lu, Wei-Min and Doyle, John C.
(1993)
*H∞ Control of Nonlinear Systems: A Class of Controllers.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.008

Zheng, Alex and Kothare, Mayuresh V. and Morari, Manfred
(1993)
*Anti-Windup Design for Internal Model Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.007

Holcomb, Tyler R. and Hjalmarsson, Hakan and Morari, Manfred
(1993)
*Significance Regression: A Statistical Approach to Biased Linear Regression and Partial Least Squares.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.002

Holcomb, Tyler R. and Morari, Manfred
(1993)
*Significance Regression: Robust Regression for Collinear Data.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.006

Braatz, Richard D.
and
Young, Peter M.
and
Doyle, John C.
et al.
(1993)
*Computational Complexity of μ Calculation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.005

Holcomb, Tyler and Morari, Manfred
(1993)
*PLS Leads to Different Algorithms for Factor Analysis and Regression.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.003

Holcomb, Tyler R. and Morari, Manfred
(1993)
*Significance Regression: Improved Estimation from Collinear Data for the Measurement Error Model.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.004

Bekiaris, Nikolaos
and
Meski, George A.
and
Radu, Christian M.
et al.
(1993)
*Multiple Steady States in Homogeneous Azeotropic Distillation.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1993.001

Primbs, James A. and Nevistić, Vesna
(1993)
*Constrained Finite Receding Horizon Linear Quadratic Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1997.002

## 1992

Lee, Jay H. and Morari, Manfred and Garcia, Carlos E.
(1992)
*State-Space Interpretation of Model Predictive Control.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1992.003

Murray, Richard M.
(1992)
*Nilpotent Bases for a Class of Non-Integrable Distributions with Applications to Trajectory Generation for Nonholonomic Systems.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1992.002

Braatz, Richard D. and Tyler, Matthew L. and Morari, Manfred
(1992)
*Avery Final Report: Identification and Cross-Directional Control of Coating Processes.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1992.004

Young, Peter M. and Newlin, Matthew P. and Doyle, John C.
(1992)
*Let's Get Real.*
California Institute of Technology
, Pasadena, CA.
(Unpublished)
http://resolver.caltech.edu/CaltechCDSTR:1992.001

This list was generated on **Fri Mar 16 05:50:53 2018 PDT**.