Julio H. Braslavsky

Limits to Performance

An important part of the design process is the characterization of the best achievable performance of a system in terms of its intrinsic dynamics and structure. This analysis reveals what is and is not achievable prior to the application of any specific design technique. This knowledge allows one to rationally trade off desirable but often not completely compatible features in the design specifications; or, when feasible, alter the system configuration in order to alleviate the most critical constraints (e.g., by changing actuator/sensor arrangements).

Recent Preprints

Middleton, R. H., A. J. Rojas, J. S. Freudenberg, and J. H. Braslavsky. Feedback stabilization over a first order moving average gaussian noise channel. IEEE Transactions on Automatic Control 54, (1): 163-167, 2009.
A. J. Rojas, J. H. Braslavsky, and R. H. Middleton. Fundamental limitations in control over a communication channel. Automatica, 44(12): 3147-3151, 2008.
Rojas, A.J., Braslavsky, J.H. and Middleton, R.H. Channel signal-to-noise ratio constrained feedback control: Performance and robustness. IET Control Theory and Applications 2 (7), pp. 595-605. DOI:10.1049/iet-cta:20070246
J.S. Freudenberg, R.H. Middleton and J.H. Braslavsky Stabilization with disturbance attenuation over a Gaussian channel. Proceedings of the 46th Conference on Decision and Control, New Orleans, Lousiana, USA December 2007.
A. Rojas, J.H. Braslavsky and R.H. Middleton Output feedback sensitivity functions under signal to noise ratio constraint. Proceedings of the 2007 America Control Conference, New York City, USA, July 2007.
J.H. Braslavsky, R.H. Middleton and J.S. Freudenberg Feedback Stabilization over Signal-to-Noise Ratio Constrained Channels (journal version). IEEE Transactions on Automatic Control, 52(8), pages 1391-1403, 2007.
A. Rojas, J.S. Freudenberg, J.H. Braslavsky and R.H. Middleton Optimal signal to noise ratio in feedback over communication channels with memory. Proceedings of the 45th Conference on Decision and Control, San diego, California, USA December 2006.
A. Rojas, J.H. Braslavsky and R.H. Middleton Output feedback control over a class of bandwidth limited, signal to noise ratio constrained communication channels. 2006 American Control Conference, Minneapolis, USA, June 2006.
J.S. Freudenberg, J.H. Braslavsky and R.H. Middleton Control over signal-to-noise ration constrained channels: Stabilization and performance. Proceedings of the Joint 44th IEEE Conference on Decision and Control and Control European Conference 2005. Seville, Spain, 2005.
J.H. Braslavsky, R.H. Middleton and J.S. Freudenberg Effects of Time Delay on Feedback Stabilization over Signal-to-Noise Ratio Constrained Channels. Presented at the 2005 IFAC World Congress, Prague, 4-8 July, 2005. Abstract
R.H. Middleton, J.H. Braslavsky and J.S. Freudenberg Stabilization of Non-Minimum Phase Plants over Signal-to-Noise Ratio Constrained Channels. Proceedings of the 5th Asian Control Conference, Melbourne, Australia, 20-23 July, 2004. Abstract
J.H. Braslavsky, R.H. Middleton and J.S. Freudenberg Feedback Stabilization over Signal-to-Noise Ratio Constrained Channels. Presented at the 2004 American Control Conference. Abstract
K. Lau, R. Middleton and J.H. Braslavsky. Undershoot and settling time trade-offs for nonlinear non-minimum phase systems. IEEE Transactions on Automatic Control, 48(8) pp 1389-1393, August 2003. Abstract
R. Middleton and J.H. Braslavsky. On the relationship between logarithmic sensitivity integrals and limiting optimal control problems. Proceedings of the IEEE 39th Conference on Decision and Control, Sydney, December 12-15, 2000. Abstract
Julio H. Braslavsky, Rick H. Middleton and Jim S. Freudenberg. Performance Limitations in a Class of Single-Input Two-Output Nonlinear Systems. CIDAC Technical Report EE9839, August 1998. To be presented at 1999 ACC (FM04-2). Abstract
J.H. Braslavsky, M.M. Seron, D.Q. Mayne and P.V. Kokotovic. Limiting Performance of Optimal Linear Filters. CCEC Technical Report 970414, April 1997. Automatica, 35(2):189-199,February 1999. Abstract.
M.M. Seron, J.H. Braslavsky, Feedback Limitations in Nonlinear Systems: From Bode Integrals to Cheap Control . P.V. Kokotovic and D.Q. Mayne. CCEC Technical Report 970304, March 1997. Also in the IEEE Transactions on Automatic Control, April 1999, 44(4), pp. 829833. Abstract. Original Technical Report as postscript file (168K).

Book

Fundamental Limitations in Filtering and Control, M.M. Seron, J.H. Braslavsky and G.C. Goodwin, Springer-Verlag, 1997, ISBN 3-540-76126-8.

Full text in PDF.

Alongside new succinct treatments of Bode's original work from the 1940s, this book presents a comprehensive account of the modern frequencydomain/inputoutput results on limits to performance. It includes developments in multivariable systems, sampleddata, periodic and nonlinear problems. The text gives particular prominence to sensitivity functions which measure the fundamental qualities of the system, including performance and robustness. With extensive appendices covering the necessary background on complex variable theory, this book is a selfcontained resource for researchers and practitioners in this field.

Table of contents - Errata in a dvi file (5K) or postscript file (27K), or PDF file (117K).