Encyclopedia of Systems and Control

Encyclopedia of Systems and Control
	Preface to the Second Edition
	Preface to the First Edition
	List of Topics
		Adaptive Control
		Aerospace Applications
		Automotive and Road Transportation
		Biomedical Devices
		Biosystems and Control
		Building Control
		Classical Optimal Control
		Complex Systems with Uncertainty
		Computer-Aided Control Systems Design
		Control of Manufacturing Systems
		Control of Marine Vessels
		Control of Networked Systems
		Control of Process Systems
		CPS / IoT
		Discrete-Event Systems
		Distributed Parameter Systems
		Economic and Financial Systems
		Electric Energy Systems
		Estimation and Filtering
		Frequency-Domain Control
		Game Theory
		Geometric Optimal Control
		Human-in-the-Loop Control
		Hybrid Systems
		Identification and Modeling
		Information-Based Control
		Intelligent Control
		Linear Systems Theory (Time-Domain)
		Machine Learning
		Micro-Nano Control
		Miscellaneous
		Model Predictive Control
		Nonlinear Control
		Quantum Control
		Robotics
		Robust Control
		Stochastic Control
		Vision-based Control
		Water Management
	Section Editors
		Adaptive Control
		Aerospace Applications
		Automotive and Road Transportation
		Biomedical Devices
		Biosystems and Control
		Building Control
		Classical Optimal Control
		Complex Systems with Uncertainty
		Computer-Aided Control Systems Design
		Control of Manufacturing Systems
		Control of Marine Vessels
		Control of Networked Systems
		Control of Process Systems
		CPS / IoT
		Discrete-Event Systems
		Distributed Parameter Systems
		Economic and Financial Systems
		Electric Energy Systems
		Estimation and Filtering
		Frequency-Domain Control
		Game Theory
		Geometric Optimal Control
		Human-in-the-Loop Control
		Hybrid Systems
		Identification and Modeling
		Information-Based Control
		Intelligent Control
		Linear Systems Theory (Time-Domain)
		Machine Learning
		Micro-Nano Control
		Miscellaneous
		Model Predictive Control
		Nonlinear Control
		Quantum Control
		Robotics
		Robust Control
		Stochastic Control
		Vision-based Control
		Water Management
	List of Contributors
A
	Active Power Control of Wind Power Plants for Grid Integration
		Introduction
		Wind Turbine Inertial and Primary Frequency Control
		Wind Turbine Automatic Generation Control
		Active Power Control of Wind Power Plants
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Adaptive Control of Linear Time-Invariant Systems
		Model Reference Adaptive Control
		Adaptive Pole Placement Control
		Search Methods, Multiple Models, and Switching Schemes
		Robust Adaptive Control
		Cross-References
		Bibliography
	Adaptive Control of PDEs
		Introduction
		Methods for Adaptive Control of PDEs
		Application of the Swapping Design Method
			Nonadaptive Control
			Adaptive Control
				Filter Design and Nonadaptive State Estimate
				Adaptive Law
				Adaptive Control Law
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Adaptive Control: Overview
		Introduction
			What Is Adaptive Control
		Varieties of Adaptive Control
		Cross-References
		Bibliography
	Adaptive Cruise Control
		Introduction
		Controller Architecture
		Vehicle Following Requirements
		String Stability Analysis
		Constant Inter-vehicle Spacing
		Constant Time-Gap Spacing
		Transitional Maneuvers
		Traffic Stability
		Recent Automotive Market Developments
		Future Directions
		Cross-References
		Bibliography
	Adaptive Horizon Model Predictive Control and Al\'brekht\'s Method
		Introduction
		Review of Model Predictive Control
		Adaptive Horizon Model Predictive Control
		Choosing a Terminal Cost and a Terminal Feedback
		Completing the Squares
		Example
		Conclusion
		Cross-References
		Bibliography
	Adaptive Human Pilot Models for Aircraft Flight Control
		An Introduction to Control-Theoretic Models of the Human Pilot
		A Simplified Pursuit Control Model of the Human Pilot
		A Rationale for Modeling the Adaptive Human Pilot
		Modeling the Adaptive Human Pilot
		An Example of Adaptive Pilot Modeling
		Cross-References
		Recommended Reading
		Bibliography
	Advanced Manipulation for Underwater Sampling
		Introduction
		Task-Priority-Based Control of Floating Manipulators
			Inequality and Equality Objectives
			Basic Definitions
			Managing the Higher Priority Inequality Objectives
			Managing the Lower Priority Equality Objectives and Subsystem Motion Priorities
		Implementations
		Future Directions
		Cross-References
		Bibliography
	Air Traffic Management Modernization: Promise and Challenges
		Synonyms
		Introduction: How Does Air Traffic Management Work?
		Causes of Congestion and Delays
			Tight Scheduling
			Safety Restrictions
			Infrastructure Limitations
			Disturbances
		Why Is Air Traffic Management Modernization So Hard?
		Promise for the Future
		Summary
		Cross-References
		Bibliography
	Aircraft Flight Control
		Introduction
		Flight
			Pure Roll Axis Example
			Pitch Axis or Short Period Example
			Lateral-Directional Axes Example
		Control
			Integrator with P+I Control
			Pure Roll Motion Example
			Short Period Example
			Lateral-Directional Example
			Nonlinear Example
		Summary and Future Directions
		Cross-References
		Bibliography
	Application of Systems and Control Theory to Quantum Engineering
		Introduction
		State Transfer
		State Protection
		Quantum Non-demolition Measurement
		Back-Action-Evading Measurement
		Cross-References
		References
	Applications of Discrete Event Systems
		Introduction
		A Tour of DES Problems and Applications
			DES-Based Behavioral Modeling, Analysis, and Control
			Dealing with the Underlying Computational Complexity
			DES Performance Control and the Interplay Among Structure, Behavior, and Performance
			The Roles of Abstraction and Fluidification
		Summary and Future Directions
		Cross-References
		Bibliography
	Approximate Dynamic Programming (ADP)
		Introduction
		Varieties of ADP from Reinforcement Learning to Operations Research
		Mathematical Taxonomy of ADP Methods in General
			Heuristic Dynamic Programming (HDP)
			Action-Dependent HDP (ADHDP), aka ``Q Learning\'\'
			Dual Heuristic Programming (DHP, Dual HDP)
			Action-Dependent DHP and Globalized HDP
		Future Directions
		Cross-References
		Bibliography
	ATM Modernization
	Auctions
		Introduction
		Auctions Versus Seller Mechanisms
		Equilibrium Strategies in Auctions
		Equilibrium for Auctions with Interdependent Valuations
		Combinatorial Auctions
		Summary and Future Directions
		Cross-References
		Bibliography
	Automated Anesthesia Systems
		Introduction
		Overview of Anesthesia
		Sensing for Anesthesia
			Sensing for Hypnosis
			Sensing for Nociception
		Modelling for Anesthesia
		Control of Anesthesia
			Control Paradigm
			Historical Period
			The Modern Period
		Summary and Future Directions
		Cross-References
		Bibliography
	Automated Insulin Dosing for Type 1 Diabetes
		Introduction
		Challenges
		Control Algorithms and Objectives
		Fault Detection
		Simulation Models
		Clinical Trial Results
		Commercial Devices
		Do-It-Yourself (DIY) Movement
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Automated Truck Driving
		Introduction
		SAE Levels of Automation Applied to Trucks
			Level 0: No Automation
			Level 1: Driver Assistance
			Level 2: Partial Automation
			Level 3: Conditional Automation
			Level 4: High Automation
			Level 5: Full Automation
		Platoon-Based Cooperative Freight Transportation
		Driverless Transportation in Mining Sites
		Cross-References
		Bibliography
	Autotuning
		Background
		What Is Autotuning?
		Methods Based on Step Response Analysis
		Methods Based on Frequency Response Analysis
		Different Adaptive Techniques
		Industrial Products
		Summary and Future Directions
		Cross-References
		Bibliography
	Averaging Algorithms and Consensus
		Introduction
		Consensus
			Consensus for Agents with Single-Integrator Dynamics
			Consensus for Agents with General Linear Dynamics
			Consensus for Agents with Nonlinear Dynamics
		Averaging Algorithms
			Static Averaging
			Dynamic Averaging
		Summary and Future Research Directions
		Cross-References
		Bibliography
B
	Backstepping
	Backstepping for PDEs
		Synonyms
		Introduction to PDE Backstepping
		Reaction-Diffusion Equation
			Target System (and Its Stability)
			Backstepping Transformation (and Its Inverse)
			Kernel Equations
			Feedback Law and Closed-Loop System Stability
		Summary and Future Directions
		Cross-References
		Bibliography
	Backward Stochastic Differential Equations and Related Control Problems
		Synonyms
		Definition
		Hedging and Risk Measuring in Finance
			Comparison Theorem
			Stochastic Optimization and Two-Person Zero-Sum Stochastic Games
			Nonlinear Feynman-Kac Formula
			Reflected BSDE and Optimal Stopping
			Backward Stochastic Semigroup and g-Expectations
		Cross-References
		Recommended Reading
		Bibliography
	Basic Numerical Methods and Software for Computer Aided Control Systems Design
		Introduction
		The Control Subroutine Library SLICOT
			Benchmarking
			Maintenance, Open Access, and Archives
		An Illustration
		Summary and Future Directions
		Cross-References
		Bibliography
	Bilinear Control of Schrodinger PDEs
		Introduction
		Preliminary Results
		Local Exact Controllability
			In 1D and with Discrete Spectrum
			Open Problems in Multi-D or with Continuous Spectrum
		Approximate Controllability
			Lyapunov Techniques
			Variational Methods and Global Exact Controllability
			Geometric Techniques Applied to Galerkin Approximations
		Concluding Remarks
		Cross-References
		Bibliography
	Boundary Control of 1-D Hyperbolic Systems
		One-Dimensional Hyperbolic Systems
			Electrical Lines
			Saint-Venant Equation for Open Channels
			Aw-Rascle Equations for Fluid Models of Road Traffic
			Chromatography
		Boundary Control
		Steady State and Change of Coordinates
		Controllability
		Feedback Stabilization
		Future Directions
		Cross-References
		Bibliography
	Boundary Control of Korteweg-de Vries and Kuramoto-Sivashinsky PDEs
		Introduction
		General Definitions
		The KdV Equation
		The KS Equation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Bounds on Estimation
		Introduction
		Statistical Model and Related Concepts
		Cramér-Rao Bound
		Barankin Bound
		Ziv-Zakai Bound
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	BSDE
	Building Comfort and Environmental Control
		Introduction
		HVAC Dynamical Model
		HVAC Control Systems
		Summary and Future Directions
		Cross-References
		Bibliography
	Building Control Systems
		Introduction
		Systems, Equipment, and Controls
		Optimal Supervisory Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Building Energy Management System
		Introduction
			Control Algorithms in Current BEMS
			Communication in BEMS
		Optimization-Based Control of Building Energy Systems
			Opportunities
			``Air-Side\'\' Optimal Control
				The Single-Zone Case
				Multi-zone Case
			The ``Water-Side\'\' Optimal Control
		Challenges
			Building-Specific Requirements
		Summary and Future Directions
		Cross-References
		Bibliography
	Building Fault Detection and Diagnostics
		Introduction
		Types of Faults
		FDD Methods
		Technical Challenges
		Fault Impacts
		FDD Method Evaluation
		Implementing Fault Testing
		Summary and Future Directions
		Cross-References
		Bibliography
	Building Lighting Systems
		Introduction
		Light Transport Modeling
		Feedback Control of Lighting
			Decentralized Integral Control
			Illumination Balancing Algorithm
			Daylight and Occupancy Adaptive Lighting Control
			Spectral Optimization for Polychromatic Lighting
			Hierarchical Optimization for Multichannel LEDs
		Summary and Conclusion
		Cross-References
		Bibliography
C
	Cascading Network Failure in Power Grid Blackouts
		Introduction
		Blackout Risk
		Simulation and Models
		Summary and Future Directions
		Cross-References
		Bibliography
	Cash Management
		Definition
		The Solution
		Cross-References
		Bibliography
	Characteristics in Optimal Control Computation
		Introduction
		Pontryagin\'s Principle and Characteristics
		Characteristics-Based Approaches to Approximating Optimal Open-Loop Control Strategies
		Transition from Open-Loop to Feedback Constructions
		Summary and Future Directions
		Cross-References
		Bibliography
	Circadian Rhythms Entrainment
	Classical Frequency-Domain Design Methods
		Introduction
		Design Specifications
		Compensation Design
		Summary and Future Directions
		Cross-References
		Bibliography
	Computational Complexity in Robustness Analysis and Design
		Introduction
			Turing Machines
			Unsolvability
			NP-Hardness and NP-Completeness
			Approximation-Based Techniques
			Basic Results
			Computational Complexity of Robust Control Problems
		Summary and Future Directions
		Cross-References
		Bibliography
	Computer-Aided Control Systems Design: Introduction and Historical Overview
		Introduction
		Development of CACSD Tools
			Modelling and Simulation Tools
			Numerical Software Tools
			Interactive Tools
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Conditioning of Quantum Open Systems
		Introduction
		Classical Probability
			Quantum Probability Models
		Quantum Conditioning
			Conditioning over Time
			Bell\'s Inequalities
		Quantum Filtering
			Conditioning in Quantum Theory
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Connected and Automated Vehicles
		Introduction
		CAV Ecosystem
		Control Systems for CAV
			Motion Control
			Decision-Making and Motion Planning
			Coordination of CAVs at Junctions
			Platoon Coordination
		Summary and Future Directions
		Cross-References
		Bibliography
	Consensus of Complex Multi-agent Systems
		Introduction
			Consensus Dynamics, Graphs, and Stochastic Matrices
		Examples and Large-Scale Analysis
		Other Models
			Random Consensus Models
			Consensus Dynamics with Stubborn Agents
		Summary and Future Directions
		Cross-References
		Bibliography
	Control and Optimization of Batch Processes
		Introduction
		Control of Batch Processes
		Optimization of Batch Processes
			Problem Formulation
			Optimization Strategies
		Summary and Future Directions
		Cross-References
		Bibliography
	Control Applications in Audio Reproduction
		Introduction: Status Quo
		Signal Reconstruction Problem
		Difficulties
		The Signal Class
			Filter Design Problem
		Summary and Future Directions
		Cross-References
		Bibliography
	Control for Precision Mechatronics
		Introduction
			Motion Systems
			Control Goal and Architecture
		Feedback Design for Performance
			Accurate Models for Motion Feedback Control: Nonparametric System Identification
			Loop-Shaping Design
			Multivariable Motion Control: A Systematic Design Framework
		Feedforward
			Feedforward Control Structure
			Manual Tuning Approach
			Automated Tuning and Learning
		Summary and Future Directions
		Cross-References
		Bibliography
	Control Hierarchy of Large Processing Plants: An Overview
		Introduction
			Industrial Implementation
			Future Control and Optimization at Plant Scale
			Summary and Future Research
		Cross-References
		Bibliography
	Control of Additive Manufacturing
		Introduction
		Binder and Material Jetting: Inkjet 3D Printing
			Control of Droplet Ejection
			Geometry Control in Inkjet 3D Printing
		Powder Bed Fusion: Selective Laser Melting (SLM)
		Directed Energy Deposition: Laser Metal Deposition (LMD)
		Summary and Future Directions
		Cross-References
		Bibliography
	Control of Anemia in Hemodialysis Patients
		Introduction
		Standard of Care for ESA Dosing
		Personalized ESA Dosing Through Closed-Loop Control
			MPC Algorithms Based on Physiological Models
			MPC Algorithms Based on Artificial Neural Networks
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Control of Biotechnological Processes
		Introduction
		Mathematical Models
			Unstructured Models
			Structured and Hybrid Models
		Identification
		Soft Sensors
		Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Control of Circadian Rhythms and Related Processes
		Synonyms
		Introduction
		Modeling
		Optimal Control of Circadian Rhythms and Related Processes
			Quickest Entrainment Problem
			Optimal Control Involving Neurobehavioral Dynamics
		Related Topics
			Spectrally Tunable Lighting
			State Estimation
		Cross-References
		Bibliography
	Control of Drug Delivery for Type 1 Diabetes Mellitus
		Introduction
		Engineering Design and Clinical Translation of Type 1 Diabetes Treatment
		Recent Advances in Clinical Trials
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Control of Fluid Flows and Fluid-Structure Models
		Some Fluid Models
		Control Issues
		Feedback Stabilization of Fluid Flows
		Controllability to Trajectories of Fluid Flows
		Additional Controllability Results for Other Fluid Flow Models
		Fluid-Structure Models
			A Rigid Body Immersed in a Three-Dimensional Incompressible Viscous Fluid
			An Elastic Beam Located at the Boundary of a Two-Dimensional Domain Filled by an Incompressible Viscous Fluid
		Control of Fluid-Structure Models
			Null Controllability of the Navier-Stokes System Coupled with the Motion of a Rigid Body
			Feedback Stabilization of the Navier-Stokes System Coupled with a Beam Equation
		Cross-References
		Bibliography
	Control of Left Ventricular Assist Devices
		Introduction
		The Left Ventricle and Systemic Circulation Model
		Control of the LVAD
		Summary and Future Directions
		Cross-References
		Bibliography
	Control of Linear Systems with Delays
		Introduction
		Basis Properties of Time-Delay Systems
			Functional Differential Equation
			Reformulation in a First-Order Form
			Asymptotic Growth Rate of Solutions and Stability
			Delay Differential Equations as Perturbation of ODEs
		The Spectrum of Linear Time-Delay Systems
			Two Eigenvalue Problems
			Critical Delays: A Finite-Dimensional Characterization
		Control of Linear Time-Delay System
			Limitations Induced by Delays
			Fixed-Order Control
			Using Delays as Controller Parameters
		Summary and Future Directions
		Cross-References
		Bibliography
	Control of Machining Processes
		Introduction
		Servo Drive Control
		Trajectory Planning
		Adaptive Control of Machining
		Control of Chatter Vibrations
		Summary and Future Directions
		Cross-References
		Bibliography
	Control of Networks of Underwater Vehicles
		Introduction
		Vehicles
		Communication and Sensing
		Control
			Formations for Tracking Gradients, Boundaries, and Level Sets in Sampled Fields
			Motion Patterns for Adaptive Sampling
		Implementation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Control of Nonlinear Systems with Delays
		Nonlinear Systems with Input Delay
		Predictor Feedback
		Backstepping Transformation and Stability Analysis
		Cross-References
		Recommended Reading
		Bibliography
	Control of Optical Tweezers
		Introduction: What Are Optical Tweezers
		Sensing and Actuation
		Models and Identification
		Traditional Control Paradigms
			Optical Traps as Force Sensors: Isometric Clamps
			Optical Traps as Motion Sensors: Isotonic Clamps
		Modern Control Approaches
		Future Opportunities
		Cross-References
		Bibliography
	Control of Quantum Systems
		Introduction
		Schrödinger Picture Models of Quantum Systems
		Heisenberg Picture Models of Quantum Systems
			(S,L,H) Quantum System Models
		Open Loop Control of Quantum Systems
		Classical Measurement-Based Quantum Feedback Control
			A Schrödinger Picture Approach to Classical Measurement-Based Quantum Feedback Control
			A Heisenberg Picture Approach to Classical Measurement-Based Quantum Feedback Control
		Coherent Quantum Feedback Control
		Cross-References
		Bibliography
	Control of Ship Roll Motion
		Ship Roll Motion Control Techniques
		Modeling of Ship Roll Motion for Control Design
			Wave-Disturbance Models
		Roll Motion Control and Performance Limitations
		Controls Techniques Used in Different Roll Control Systems
			Fin Stabilizers
			Rudder-Roll Stabilization
			Gyrostabilizers
			U-tanks
		Summary and Future Directions
		Cross-References
		Bibliography
	Control Structure Selection
		Introduction
		Overall Objectives for Control and Structure of the Control Layer
		Notation and Matrices H1 and H2 for Controlled Variable Selection
		Supervisory Control Layer and Selection of Economic Controlled Variables (CV1)
		Quantitative Approach for Selecting Economic Controlled Variables, CV1
			CV1-Rule 1: Control Active Constraints
			CV1-Rule 2: Control Self-Optimizing Variables
		Regulatory Control Layer
		Input-Output (IO) Selection for Regulatory Control (u2, y2)
			Survey by Van de Wal and Jager
			A Systematic Approach for IO-Selection Based on Minimizing State Drift Caused by Disturbances
		Summary and Future Directions
		Cross-References
		Bibliography
	Control System Optimization Methods in the Frequency Domain
		Introduction
		Design Specifications
		Objective Functions
		Multi-objective Optimization Formulation
		Optimization Process
		Example Case
		Summary and Future Directions
		Cross-References
		Bibliography
	Control Systems for Nanopositioning
		Introduction
		Nanopositioning for Scanning Probe Microscopy
			Low-Noise Sensing
			Scanners
			Feedback Control
			Scan Trajectories
		Nanopositioning for Probe-Based Data Storage
		Nanoscale Track-Following in Tape Drives
		Summary and Future Directions
		Cross-References
		Bibliography
	Control-Based Segmentation
		Introduction
		Open-Loop Automatic Segmentation
			Region-Based Active Contours
			Distance-Based Clustering
		Feedback Control and Interactive Segmentation
			Regulatory Control
		Examples of Feedback Control-Based Segmentation Methods
			Controlled Region-Based Active Contour Models
			Controlled Distance-Based Clustering
		Conclusion
		Cross-References
		Bibliography
	Controllability and Observability
		Introduction
		Systems with Inputs and Outputs
		Controllability
		Observability
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Controllability of Network Systems
		Introduction
		Results on the Controllability of Network Systems
			Structural Controllability of Network Systems
			Model-Based Controllability of Network Systems
			Data-Driven Controllability of Network Systems
		Summary and Future Directions
		Cross-References
		Bibliography
	Controller Performance Monitoring
		Introduction
		Univariate Control Loop Performance Assessment with Minimum Variance Control as Benchmark
		Performance Assessment and Diagnosis of Univariate Control Loop Using Alternative Performance Indicators
		Performance Assessment of Univariate Control Loops Using User-Specified Benchmarks
		Diagnosis of Poorly Performing Loops
		Industrial Applications of CPM Technology
			BASF Controller Performance Monitoring Application
			Saudi Aramco Controller Performance Monitoring Practice
		Concluding Remarks
		Cross-References
		Bibliography
	Controller Synthesis for CPS
		What is Formal Controller Synthesis?
		Problem Formulation
			Modeling Systems
			Modeling Specifications
			Composing Systems
			The Formal Controller Synthesis Problem
		Abstraction-Based Synthesis
			Formal Controller Synthesis for Finite Systems
			Construction of Finite Abstractions
			Refinement of Controllers
			Abstraction-Based Synthesis vs Direct Synthesis
			Compositional Synthesis
			Synthesis for Special Classes of Properties
			Tools
		Cross-References
		Bibliography
	Controlling Collective Behavior in Complex Systems
		Introduction and Motivation
		Modelling Complex Systems
		Controlling Collective Behavior
		Evolving Networks and Adaptive Complex Systems
		Proving Convergence
		Summary, Open Problems, and Future Directions
		Cross-References
		Bibliography
	Cooperative Manipulators
		Introduction
		Modeling, Load Sharing, and Performance Evaluation
		Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Cooperative Solutions to Dynamic Games
		Introduction
		The Origins
		Cooperation Solution Concept
			The Scalarization Technique
			Conditions for Pareto Optimality in Mathematical Programming
			Maximum Principle
		The Nash Bargaining Solution
		Cores and C-Optimality in Dynamic Games
		Links with Reachability Theory for Perturbed Systems
		Conclusion
		Cross-References
		Bibliography
	Coordination of Distributed Energy Resources for Provision of Ancillary Services: Architectures and Algorithms
		Introduction
		The Problem of DER Coordination
		Architectures
			Centralized Architecture
			Decentralized Architecture
		Algorithms
			Ratio Consensus: A Distributed Algorithm for Fair Splitting
		Cross-References
		Bibliography
	Credit Risk Modeling
		Introduction
		Modeling of Single Default Time Using Conditional Density
		Modeling Evolution of Credit Ratings Using Markov Copulae
		Summary and Future Directions
		Cross-References
		Bibliography
	Cyber-Physical Maritime Robotic Systems
		Introduction
		Background in Maritime Robotic Vehicles
		Current Practices and Trends
		Future Applications
		Future Maritime Robotic Operations
		Future Directions
			Robotic Vehicles
			Cyber-physical Systems of Robotic Systems
			Models of Systems with Evolving Structure
			Optimization and Execution Control in Extended Space-Control Spaces
			Organizational Concepts
		Cross-References
		Recommended Reading
		Bibliography
	Cyber-Physical Security
		Introduction
		Networked Control System Under Attack
			CPS Components and Signals
			CPS Attack Space
		Properties of Attack Strategies
			Detectability
			Impact
		Attack Mitigation Strategies
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Cyber-Physical Systems Security: A Control-Theoretic Approach
		Introduction
		Attack Effectiveness Analysis
			DoS Attack
			Integrity Attack
				Replay Attack
				False-Data Injection Attack
				Innovation-Based Integrity Attack
		Countermeasure Mechanism Design
		Cross-References
		Bibliography
	Cyber-Physical-Human Systems
		Introduction
		The Human Element in CPHS
			Prospect Theory
			Capacity for Maneuver Concept
				Perception Trigger
				CfM-GCD Trade-off
			Game Theory and Reinforcement Learning
				Game Theory
				Reinforcement Learning
				Merging Game Theory and Reinforcement Learning to Model Human Interactions
		Interconnecting Humans and Cyber-Physical Systems: Examples of CPHS
			Prospect Theory Examples
			Shared Control Architectures
			SCA 1: A Pilot with a CfM-Based Perception and a Fixed-Gain Autopilot
			SCA 2: A Pilot with a CfM-Based Decision-Making and an Advanced Adaptive Autopilot
			Airspace in the Presence of Both Manned and Unmanned Aircraft
		CPHS Beyond the Engineering Domain
		Summary
		Cross-References
		Bibliography
D
	Data Association
		Introduction
		Validation Region
			A Single Target in Clutter
			Multiple Targets in Clutter
		Approaches to Tracking and Data Association
			Pure MMSE Approach
			MMSE-MAP Approach
			MMSE-ML Approach
			Heuristic Approaches
			Remarks
		Estimation and Data Association in Nonlinear Stochastic Systems
			The Model
			The Optimal Estimator for the Pure MMSE Approach
		Track-to-Track Association
			Association of Tracks with Independent Errors
			Association of Tracks with Dependent Errors
				Effect of the Dependence
				The Test
			The Cross-Covariance of the Estimation Errors
		Summary and Future Directions
		Cross-References
		Bibliography
	Data Rate of Nonlinear Control Systems and Feedback Entropy
		Introduction
		Definition
		Comparison to Topological Entropy
		The Data Rate Theorem
		Estimates and Formulas
			Linear Systems
			Upper Bounds Under Controllability Assumptions
			Lower Bounds, Volume Growth Rates, and Escape Rates
		Summary and Future Directions
		Cross-References
		Bibliography
	Deep Learning in a System Identification Perspective
		Introduction
		Deep Learning Background
			The Setup and the Model Structure
			Stochastic Optimization Is Used to Train the Model
		Constructing Deep Learning Architectures Suitable for System Identification
		A Case Study: The Silverbox Example
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Demand Response: Coordination of Flexible Electric Loads
		Introduction
		Demand-Responsive Loads and Response Strategies
			Residential
			Commercial
			Industrial/Other
		Demand Response Programs
			Price-Based
			Incentive-Based
			Market-Based
		Emerging Applications
			Load Coordination for Balancing Reserves
			Distribution Network Upgrade Deferral
			Maximizing Self-Consumption of Solar Power
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Demand-Driven Automatic Control of Irrigation Channels
		Introduction
		Distributed Distant-Downstream Control Architecture
		Modelling Channel Dynamics for Control Design
		Design and Limitations of Distributed Distant-Downstream Controllers
		Results from Operational Channels
		Summary and Future Directions
		Cross-References
		Bibliography
	DES
	Descriptor System Techniques and Software Tools
		Introduction
		Basics of Manipulating Rational Matrices
			Basic Operations
			Basic Couplings
		Canonical Forms of Linear Pencils
		Advanced Descriptor Techniques
			Normal Rank
			Poles and Zeros
			Rational Nullspace Bases
			Additive Decompositions
			Coprime Factorizations
			Linear Rational Matrix Equations
		Software Tools
		Cross-References
		Recommended Reading
		Bibliography
	Deterministic Description of Biochemical Networks
		Introduction
			Reaction Networks
			Dynamics
			Steady-State Analysis
			Quasi-Steady-State Analysis
			Cooperativity and Ultra-sensitivity
			Constrained Dynamics
		Summary and Future Directions
		Cross-References
		Bibliography
	Diagnosis of Discrete Event Systems
		Introduction
		Problem Formulation
			Event Diagnosis
			Diagnosability Analysis
		Diagnosis of Automata
		Diagnosability Analysis of Automata
		Diagnosis and Diagnosability Analysis of Petri Nets
		Current and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Differential Geometric Methods in Nonlinear Control
		Introduction
		A Primer on Differential Geometry
		Controllability of Nonlinear Systems
		Observability for Nonlinear Systems
		Minimal Realizations
		Lie Jet and Approximations
		Disturbance Decoupling
		Conclusion
		Cross-References
		Bibliography
	Disaster Response Robot
		Introduction
		Response Robots for Natural Disasters
			Water Disaster
			Volcano Eruption
			Structural Collapse by Earthquakes, Landslides, etc.
			Fire
			Flood and Landslide
		Response Robots for Man-Made Disasters
			Explosive Ordnance Disposal (EOD)
			CBRNE Disasters
			Fukushima-Daiichi Nuclear Power Plant Accident
		Summary and Future Directions
		Cross-References
		Bibliography
	Discrete Event Systems and Hybrid Systems, Connections Between
		Introduction
		From Hybrid Systems to Discrete Event System by Modeling Abstraction
		Timed Discrete Event Systems Are Hybrid Systems
		From Discrete Event System to Hybrid Systems by Fluidization
		Cross-References
		Bibliography
	Discrete Optimal Control
		Synonyms
		Definition
		Motivation
		Formulation of a General Discrete Optimal Control Problem
		Discrete Mechanics
		Discrete Optimal Control of Mechanical Systems
			Discretization of the Lagrangian and Control Forces
			Discrete Lagrange–d\'Alembert Principle
			Boundary Conditions
			Discrete Cost Function
			Discrete Optimal Control Problem
		Optimal Control Systems with Symmetries
		Cross-References
		Bibliography
	Distributed Estimation in Networks
		Introduction
		Consice Description of Distributed Estimation
		Parameter Selection for State Omniscience
		Optimizing Disturbance Attenuation Performance
		Applications to Distributed Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Distributed Model Predictive Control
		Introduction and Motivations
		Definitions and Architectures for Constrained Linear Systems
			Subsystem Dynamics, Constraints, and Objectives
			Decentralized, Noncooperative, and Cooperative Predictive Control Architectures
		Cooperative Distributed MPC
			Basic Algorithm
			Properties
		Complementary Aspects
			Coupled Input Constraints and State Constraints
			Parsimonious Local System Representations
			Output Feedback and Offset-Free Tracking
			Distributed Control for Nonlinear Systems
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Distributed Optimization
		Introduction
		Networked System Problem
		Distributed Algorithms
			Algorithms Using Weighted Averaging
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Distributed Sensing for Monitoring Water Distribution Systems
		Introduction
		Managing WDS with Sensors
		Event Detection and Sensor Placement Models
		Challenges in Sensors Deployment
		Summary and Future Directions
		Cross-References
		Bibliography
	Disturbance Observers
		Introduction
		Disturbance Observer for Linear System
			Robust Stability Condition
			Design of Q(s) for Robust Stability
		Disturbance Observer for Nonlinear System
			Intuitive Introduction of the DOB for Nonlinear System
			Implementation of the DOB
			Robust Stability
			Robust Transient Response
		Discussions
		Summary and Future Directions
		Cross-References
		Bibliography
	DOC
	Dynamic Graphs, Connectivity of
		Introduction
			Graph-Theoretic Connectivity Control
			Connectivity Control Using Realistic Communication Models
			Intermittent Connectivity Control
		Summary and Future Research Directions
		Cross-References
		Bibliography
	Dynamic Noncooperative Games
		Introduction
		Finite Games in Extensive Form
		Strategies and Equilibrium Solutions
			Computation of Equilibria
			Subgames
		Infinite Noncooperative Games
		Conclusions
		Cross-References
		Bibliography
	Dynamic Positioning Control Systems for Ships and Underwater Vehicles
		Introduction
		Mathematical Modeling of DP Vessels
			Modeling Issues
			Kinematics
			Process Plant Model: Low-Frequency Motion
			Process Plant Model: Wave-Frequency Motion
			Control Plant Model
		Control Levels and Integration Aspects
			DP Controller
			Plant Control
		Cross-References
		Bibliography
	Dynamical Social Networks
		Introduction
		Mathematical Representation of a Social Network
		Structural Properties of Social Networks
			Density Characteristics
			Centrality Measures, Resilience, and Structural Controllability
			Structural Balance in Signed Networks
		Dynamical Processes over Social Networks
			Opinions and Models of Opinion Formation
			Models of Rational Consensus: Social Power
			From Consensus of Opinions to Community Cleavage
				Models with Stubborn Individuals
				Homophily-Based Models
				Antagonistic Interactions
			Inference of Networks\' Structures from Opinion Dynamics
			Dynamics of Social Graphs
		Cross-References
		Bibliography
	Dynamics and Control of Active Microcantilevers
		Introduction
		Microcantilever Dynamics
			Cantilever Model
			System Property
		Microcantilever Control
			Q Control Using Positive Position Feedback
			Controller Design
		Application to Atomic Force Microscopy
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
E
	Economic Model Predictive Control
		Introduction
		Economic MPC Formulation
		Basic Theory
			Feasibility and Constraints
			Asymptotic Average Performance
			Stability and Convergence
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	EKF
	Electric Energy Transfer and Control via Power Electronics
		Introduction
		Fundamentals of Power Electronics
			Power Electronics Controller Types for Energy Transfer and Control
			Future Directions
		Cross-References
		Bibliography
	Emergency Building Control
		Introduction
		Physical Attack: Hazardous Agents
		Cyber-Attack
		Power Outage Management
		Emergency Egress
		Summary and Future Direction
		Cross-References
		Recommended Reading
		Bibliography
	Engine Control
		Introduction
		Target Systems
		The Control Tasks
			Air Path Control
			Fuel Path Control
			Ignition
			Aftertreatment
			Cranking and Idle Speed
			Thermal Management
		New Trends
		Cross-References
		Bibliography
	Estimation and Control over Networks
		Introduction
		Preliminaries
		Analog Erasure Channel Model
			A Network of Communication Channels
			Multiple Sensors
		Digital Noiseless Channels
			A Network of Communication Channels
			Multiple Sensors
		Summary and Future Directions
		Cross-References
		Bibliography
	Estimation for Random Sets
		Introduction
		A Simple Example
		Mathematics of Random Sets
			General Theory of Random Sets
			Random Finite Sets (Random Point Processes)
			Stochastic Geometry
		Random Sets and Image Processing
		Random Sets and Multitarget Processing
		Random Sets and Human-Mediated Data
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Estimation, Survey on
		Chapter Organization
		Historical Overview on Estimation
		Applications
			Astronomy
			Statistics
			Telecommunications and Signal/Image Processing
			Space Navigation and Aerospace Applications
			Control Systems and System Identification
			Tracking
			Econometrics
			Geophysics
			Data Assimilation for Weather Forecasting and Oceanography
			Global Navigation Satellite Systems
			Robotic Navigation (SLAM)
			Automotive Systems
			Miscellaneous Applications
		Connection Between Information and Estimation Theories
			Static Scalar Case
			Linear Dynamic Continuous-Time Case
		Conclusions and Future Trends
			Networked Information Fusion and Estimation
			Quantum Estimation
		Cross-References
		Bibliography
	Event-Triggered and Self-Triggered Control
		Introduction
		Time-Triggered, Event-Triggered and Self-Triggered Control
		Lyapunov-Based Analysis
			Perturbation Approach
			Hybrid System Approach
		Alternative Event-Triggering Mechanisms
			Relative, Absolute, and Mixed Triggering Conditions
			Model-Based Triggering
				Triggering with Time-Regularization
				Decentralized Triggering Conditions
				Triggering for Multi-agent Systems
		Outlook
		Cross-References
		Bibliography
	Evolutionary Games
		Introduction
		Replicator Dynamics
		Evolutionary Games: Fitnesses
			Evolutionary Stable Strategies: ESS
			Example: The Hawk and Dove Game
		Extension: Evolutionary Stable Sets
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Experiment Design and Identification for Control
		Introduction
		Model Quality Measures
			General-Purpose Quality Measures
			Application-Oriented Quality Measures
				Average Performance Degradation
				Acceptable Performance
		Design Variables
			Sampling Interval
			Feedback
			External Excitation Signals
		Experimental Constraints
		Experiment Design Criteria
		Computational Issues
			Reparametrization
			Convex Relaxations
				Using the per Sample Fisher Information
				Lifting
				Frequency-by-Frequency Design
		Implementation
			Robust Experiment Design
			Adaptive Experiment Design
			Waveform Generation
		Implications for the Identification Problem Per Se
		Identification for Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Explicit Model Predictive Control
		Introduction
		Model Predictive Control Problem
		Multiparametric Solution
			Multiparametric QP Algorithms
		Extensions
			Linear MPC Based on Convex Piecewise-Affine Costs
			Robust MPC
			Hybrid MPC
		Applicability of Explicit MPC
			Complexity of the Solution
			Computer-Aided Tools
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Extended Kalman Filters
		Synonyms
		Cross-References
		Bibliography
	Extremum Seeking Control
		Introduction
		The Basic Idea of Extremum Seeking
		ES for Multivariable Static Maps
		ES for Dynamic Systems
		Newton ES Algorithm for Static Map
		Further Reading on Extremum Seeking
		Cross-References
		Bibliography
F
	Facility Control and Optimization Problems in Data Centers
		Introduction
		Modeling and Control of a Computer
		Data Center Level Modeling and Control
		Run-Time Optimization of Cooling Efficiency
		More Control and Optimization Issues
		Future Directions for Research
		Cross-References
		Recommended Reading
		Bibliography
	Fault Detection and Diagnosis
		Introduction
		Alarm Systems
		Model-Based FDD Concepts
		Principal Component Analysis
		Summary and Future Directions
		Cross-References
		Bibliography
	Fault Detection and Diagnosis: Computational Issues and Tools
		Introduction
		Plant Models with Additive Faults
		Residual Generation
		Fault Diagnosis Problems
			Fault Detection Problem: FDP
			Fault Detection and Isolation Problem: FDIP
		Synthesis of Fault Detection Filters
			Nullspace-Based Synthesis
			Filter Updating Techniques
			Least Order Synthesis
			Coprime Factorization Techniques
			Outer–Co-inner Factorization
		Synthesis Procedures
		Software Tools
		Cross-References
		Recommended Reading
		Bibliography
	Fault-Tolerant Control
		Synonyms
		Introduction
		Definitions Relating to Fault-Tolerant Control
		Architectures and Classification of FTC Schemes
			AFTC Examples
		Summary and Future Directions
		Cross-References
		Bibliography
	Feedback Linearization of Nonlinear Systems
		Introduction
		Linearization of a Smooth Vector Field
		Linearization of a Controlled Dynamics by Change of State Coordinates
		Feedback Linearization
		Input–Output Linearization
		Approximate Feedback Linearization
		Observers with Linearizable Error Dynamics
		Conclusion
		Cross-References
		Bibliography
	Feedback Stabilization of Nonlinear Systems
		Introduction
		Preliminary Results
		Brockett Theorem
		Control Lyapunov Functions
		Constructive Stabilization
			Feedback Systems
			Feedforward Systems
		Stabilization via Output Feedback
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Financial Markets Modeling
		Models for Prices of Stocks
		Interest Rate Models
		Models with Jumps
			Lévy Processes
			Affine Processes
		Models for Defaults
		Cross-References
		Bibliography
	Finite-Horizon Linear-Quadratic Optimal Control with General Boundary Conditions
		Introduction
		Classical Finite-Horizon Linear-Quadratic Optimal Control
		More General Linear-Quadratic Problems
		Summary
		Cross-References
		Bibliography
	Flexible Robots
		Introduction
		Robots with Flexible Joints
			Dynamic Modeling
			Regulation
			Trajectory Tracking
		Robots with Flexible Links
			Dynamic Modeling
			Control of Joint-Level Motion
			Control of Tip-Level Motion
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Flocking in Networked Systems
		Summary and Future Directions
		Cross-References
		Bibliography
	Force Control in Robotics
		Introduction
		Modeling
		Indirect Force Control
			Stiffness Control
			Impedance Control
		Direct Force Control
			Hybrid Force/Motion Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Formal Methods for Controlling Dynamical Systems
		Introduction
		Formal Synthesis of Control Strategies
			Automata-Based Methods
			Optimization-Based Methods
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Frequency Domain System Identification
		Introduction
		Data Collection
			Time Domain and Frequency Domain Measurements
				Time Domain Measurements
				Frequency Domain Measurements
			Zero-Order-Hold and Band-Limited Setup: Impact on the Model Choice
				Zero-Order Hold
				Band-Limited Setup
				Combining Discrete Time Models and BL Data
				Extracting Continuous Time Models from ZOH Data
				Models of Cascaded Systems
			Experiment Design: Periodic or Random Excitations?
			Nonparametric Preprocessing of the Data in the Frequency Domain
				Nonparametric Frequency Analysis of Periodic Data
				Nonlinear Analysis
				Noise and Data Reduction
				High-Quality Frequency Response Function Measurements
		Generalized Frequency Domain Models
		Parametric Identification
		Additional User Aspects in Parametric Frequency Domain System Identification
			Nonparametric Noise Models
			Stable and Unstable Plant Models
			Model Selection and Validation
				Absolute Interpretation of the Cost Function: Impact on Model Selection and Validation
				Missing Resonances
			Identification in the Presence of Noise on the Input and Output Measurements
				Errors-in-Variables Framework
				Identification in a Feedback Loop
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Frequency-Response and Frequency-Domain Models
		Introduction
		Neutral Stability: Gain and Phase Margins
		Closed-Loop Frequency Response
		Summary and Future Directions
		Cross-References
		Bibliography
	FTC
	Fuel Cell Vehicle Optimization and Control
		Introduction
		Fuel Cell Vehicle System
			Fuel Cell Operation
			Balance of Plant (BOP)
			Power Split
				Rule-Based Control (RBC) Strategies
				Dynamic Programming (DP)
				Pontryagin\'s Minimum Principle (PMP)
				Equivalent Consumption Minimization Strategy (ECMS)
				Model Predictive Control (MPC)
				Machine Learning
		Needs and Important Directions
		Cross-References
		Bibliography
	Fundamental Limitation of Feedback Control
		Introduction
		Control Design Specifications
		Bode Integral Relations
		MIMO Integral Relations
		Frequency-Domain Performance Bounds
		Time-Domain Tracking and Regulation Limits
		Summary and Future Directions
		Cross-References
		Bibliography
G
	Game Theory for Security
		Introduction
		Security Games
			An Example Formulation
			Security Game Types
		Applications
		Summary and Future Directions
		Cross-References
		Bibliography
	Game Theory: A General Introduction and a Historical Overview
		What Is Game Theory?
		Highlights on the History and Evolution of Game Theory
		Related Entries on Game Theory in the Encyclopedia
		Future of Game Theory
		Bibliography
	Graphs for Modeling Networked Interactions
		Introduction
		Graph-Based Coordination Models
		Applications
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
H
	H2 Optimal Control
		Introduction
		Regular Case
		Singular Case
		Conclusion
		Cross-References
		Bibliography
	H-Infinity Control
		Introduction
		Robust Stability
		Derivation of the H∞-Control Law
		Relations for Other Solution Methods and Problem Formulations
		Controller Design with H∞ Optimization
		Summary and Future Directions
		Cross-References
		Bibliography
	History of Adaptive Control
		Introduction
		The Brave Era
		Model Reference Adaptive Control (MRAC)
		The Self-Tuning Regulator
		Robustness and Unification
		Applications
		Summary and Future Directions
		Cross-References
		Bibliography
	Human Decision Making in Multi-agent Systems
		Introduction
		Challenges and Difficulties
		Standard Models and Related Results
			Diffusion Model
			Bayesian Model
			Threshold Model
			Evolutionary Game Models
		Summary and Future Directions
		Cross-References
		Bibliography
	Human-Building Interaction (HBI)
		Definition of Human-Building Interaction
		HBI Research Directions
		HBI Applications and Examples
		Cross-References
		Bibliography
	Hybrid Dynamical Systems, Feedback Control of
		Introduction
		Motivation
		Modeling Hybrid Control Systems
		Definitions and Notions
		Feedback Control Design for Hybrid Dynamical Systems
			CLF-Based Control Design
			Passivity-Based Control Design
			Tracking Control Design
			Forward Invariance-Based Control Design
			Temporal Logic
		Summary and Future Directions
		Cross-References
		Bibliography
			Set-Valued Dynamics and VariationalAnalysis
			Modeling and Stability
			Control
	Hybrid Model Predictive Control
		Introduction
		Notation and Preliminaries
			Notation
			Discrete-Time, Continuous-Time, and Hybrid Systems
		Hybrid Model Predictive Control Strategies
			MPC for Discrete-Time Piecewise Affine Systems
				Further Reading
			MPC for Discrete-Time Systems with Continuous and Discrete-Valued States
				Further Reading
			Periodic MPC for Continuous-Time Systems
				Further Reading
			MPC for Linear Systems with Periodic Impulses
				Further Reading
			MPC for Hybrid Dynamical Systems
				Further Reading
		Cross-References
		Bibliography
	Hybrid Observers
		Introduction
		Hybrid Observers: Different Strategies
			Continuous-Time Plants
				Linear Case
				Nonlinear Case
			Systems with Flows and Jumps
				Switching Systems and Hybrid Automata
		Summary and Future Directions
		Cross-References
		Bibliography
I
	Identification and Control of Cell Populations
		Introduction
		Dynamical Models of Cell Populations
		Identification of Cell Population Models
		Control of Cell Populations
			The Actuator
			The Sensor
			The Control System
		Summary and Future Directions
		Cross-References
		Bibliography
	Identification of Network Connected Systems
		Introduction
		Two Modeling Paradigms for Network-Connected Systems
			Graphical Representation
			The Signal Flow Versus the Control Engineering Approach
		Parametrizing Spatial-Temporal Dynamics
			A Priori Parametrization
			Sparse System Matrices of (5)
			Dense Data Sparse System Matrices of (5)
		Numerical Methodologies
			Prediction Error Methods for a Prior Parametrized Models
			Subspace Identification for Sparse Network Models
			Subspace-Like Identification for Dense, Data Sparse Network Models
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Image-Based Estimation for Robotics and Autonomous Systems
		Introduction
		Image-Based Inverse Depth Dynamics
		Depth Observers
			Concurrent Learning-Based Depth Observer for Static Objects
			Unknown Input Observer for Moving Objects
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Image-Based Formation Control of Mobile Robots
		Introduction
		Geometric Relationships
			Homography Matrix
			Essential Matrix
		Graph Theory
		Cooperative State Estimation
		Cooperative Formation Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Image-Based Robot Control
		Introduction
		Dynamic Image-Based Controller
			Approximate Jacobian Setpoint Control
			Adaptive Jacobian Control
		Separation of Kinematic and Dynamic Control Loops
		Summary and Future Directions
		Recommended Reading
		Cross-References
		Bibliography
	Industrial Cyber-Physical Systems
		Introduction
		Brief History of Industrial CPS
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Industrial MPC of Continuous Processes
		Introduction
		Origins and History
		Mathematical Formulation
		MPC Design
		MPC Practice
		Current and Future Directions
		Cross-References
		Bibliography
	Inertial Navigation
		Introduction
		Inertial Navigation
			Preliminaries
			Coning and Sculling
				Coning Compensation
				Sculling Compensation
			Inertial Navigation Equations
		Summary and Future Directions
		Cross-References
		Bibliography
	Infinite-Dimensional
	Information and Communication Complexity of Networked Control Systems
		Introduction
		Communication Complexity for Decentralized Dynamic Optimization
		Structural Results on Optimal Policies
		Communication Complexity in Decentralized Computation
		Communication Complexity in Reach-Control
		Connections with Information Theory
		Communication Complexity in Decentralized Stabilization
		Information Structures and Their Design in Decentralized Stochastic Control and Some Topological Properties
		Large-Scale Systems and Mean-Field Theory
		Information Design for Stochastic Games and Networked Control with Non-aligned DMs
		Computational Complexity
		Summary
		Cross-References
		Bibliography
	Information-Based Control of Networked Systems
	Information-Based Multi-agent Systems
		Synonyms
		Introduction
			Control Complexity
			Control with Data Rate Constraints
			Robotic Networks and Formation Control
			Action-Mediated Communication
			Multi-objective Distributive Systems
		Summary and Future Directions
		Cross-References
		Bibliography
	Information-Theoretic Approaches for Non-classical Information Patterns
		Introduction
		Communicating Using Actions: An Example
		The Witsenhausen Counterexample
		Applications, Summary, and Future Directions
		Cross-References
		Bibliography
	Input-to-State Stability
		Introduction
		Input-to-State Stability
		Feedback Redesign
		Equivalences for ISS
			Nonlinear Superposition Principle
			Robust Stability
			Dissipation
			Using ``Energy\'\' Estimates Instead of Amplitudes
		Integral Input-to-State Stability
			Dissipation Characterization of iISS
			Superposition Principles for iISS
		Summary, Extensions, and Future Directions
		Cross-References
		Bibliography
	Input-to-State Stability for PDEs
		Introduction
		Problems and Methods for ISS for PDEs
		Examples of Results of ISS for PDEs
		Summary and Future Directions
		Cross-References
		Bibliography
	Interaction Patterns as Units of Analysis in Hierarchical Human-in-the-Loop Control
		Introduction
			Motivation
		Background
			Units of Behavior
			Organizational Units and Invariants
		Agent-Environment Systems Formulation
			Dynamic Systems and Agent-Environment Dynamics
			Guidance Behavior and Interaction Patterns
			Interaction Patterns and Invariant Properties
			Equivalence Relations and Behavior Organization
		Interaction Patterns and Systems Modeling
			Functional Hierarchical Model Overview
		Interaction Patterns in Applications
			Modeling Applications
			Engineering Design Applications
			Future Research and Applications
		Cross-References
		Bibliography
	Interactive Environments and Software Tools for CACSD
		Introduction
		Interactive Environments and Software Tools
			Main Functionality
			Reference Interactive Environments
			Computational Tools
			Support Tools
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Intermittent Image-Based Estimation
		Introduction
		Image-Based Estimation Dynamics
		Switched Systems Analysis
		Summary and Future Directions
		Cross-References
		Bibliography
	Inventory Theory
		Introduction
		Deterministic Demand
			The EOQ Model
			The Dynamic Lot Size Model
		Stochastic Demand
			The Single-Period Problem: The Newsvendor Model
			Multi-period Inventory Models: No Fixed Cost
			Multi-period Inventory Models: Fixed Cost
			The Continuous-Time Model: Fixed Cost
			Incomplete Inventory Information Models (i3)
		Summary and Future Directions
		Cross-References
		Bibliography
	Investment-Consumption Modeling
		Introduction
		The Main Techniques
			The Value Function Approach
			Dual Variables
			Use of Martingale Representation
		Summary and Future Directions
		Cross-References
		Bibliography
	Iterative Learning Control
		Introduction
		Modelling Issues
		Formal Design Objectives
		Inverse Model-Based Iteration
		Optimization-Based Iteration
			Function/Time Series Optimization
			Related Linear NOILC Problems
			Parameter Optimization
		Summary and Future Directions
		Cross-References
		Bibliography
K
	Kalman Filters
		Description of Kalman Filter
		Design Issues
		Why Is the Kalman Filter So Useful and Popular?
		Summary and Future Directions
		Cross-References
		Bibliography
	KYP Lemma and Generalizations/Applications
		Introduction
		KYP Lemma
		Generalization
		Applications
		Summary and Further Directions
		Cross-References
		Bibliography
L
	L1 Optimal Control
		Glossary
		Introduction: The 1 Norm
		Control Synthesis
			Example
		Solution Methodologies
			SISO Case
		MIMO Case
		Summary
		Cross-References
		Bibliography
	Lane Keeping Systems
		Introduction
		Lane Keeping System Architecture
		Sensing and Actuation
			Radar
			Vision Systems
			Actuators
		Decision-Making and Control
			Threat Assessment
			Lane Position Control
		Cross-References
		Bibliography
	Learning Control of Quantum Systems
		Introduction
		Gradient-Based Learning for Optimal Control of Quantum Systems
		Evolutionary Computation for Learning Control of Quantum Systems
		Learning-Based Quantum Robust Control
		Reinforcement Learning for Quantum Control
		Conclusions
		Summary and Future Directions
		Cross-References
		Bibliography
	Learning in Games
		Introduction
		Illustration: Commuting Game
		Learning Dynamics
			Preliminaries
			Special Classes of Games
			Forecasted Best-Response Dynamics
				Cournot Best-Response Dynamics
				Fictitious Play
			Log-Linear Learning
		Extensions and Variations
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Learning Theory: The Probably Approximately Correct Framework
		Introduction
		Problem Formulation
		Examples
		Vapnik-Chervonenkis Dimension
		Two Important Theorems
		Summary and Future Directions
		Cross-References
		Bibliography
	Lie Algebraic Methods in Nonlinear Control
		Definition
		Introduction
		Noncommuting Flows
		Controllability
		Exponential Lie Series
		Observability and Realization
		Optimal Control
		Summary and Future Research
		Cross-References
		Bibliography
	Linear Matrix Inequality Techniques in Optimal Control
		Early Optimization History
		Linear Matrix Equalities and Inequalities
		Lyapunov Equations and Related LMIs
		Many Control Problems Reduce to the Same LMI
			Stabilizing Control
			Covariance Upper Bound Control
			Linear Quadratic Regulator
			H-Infinity Control
			L-Infinity Control
		Information Architecture in Estimation and Control Problems
		Summary
		Cross-References
		Bibliography
	Linear Quadratic Optimal Control
		Introduction
		Systems with Inputs and Outputs
		The Linear Quadratic Optimal Control Problem
		The Finite-Horizon Problem
		The Infinite-Horizon Problem with Free Endpoint
		The Infinite-Horizon Problem with Zero Endpoint
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Linear Quadratic Zero-Sum Two-Person Differential Games
		Perfect State Measurement
		H∞-Optimal Control
			Finite Horizon
			Infinite Horizon
		Conclusion
		Cross-References
		Bibliography
	Linear State Feedback
		Introduction
		Linear Continuous-Time Systems
		Linear Discrete-Time Systems
		Selecting the Gain F
		Eigenvalue Assignment Problem
		Transfer Functions
		Observer-Based Dynamic Controllers
		Summary and Future Directions
		Cross-References
		Bibliography
	Linear Systems: Continuous-Time Impulse Response Descriptions
		Introduction
		Connection to State-Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Linear Systems: Continuous-Time, Time-Invariant State Variable Descriptions
		Synonyms
		Introduction
		Deriving State Variable Descriptions
		Solving  = A(t) x;   x(0) =x0
		System Response
		Equivalent State Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Linear Systems: Continuous-Time, Time-Varying State Variable Descriptions
		Introduction
		Solving (t) = A(t)x(t);  x(t0) = x0
		System Response
		Properties of the State Transition Matrix (t,t0)
		Equivalence of State Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Linear Systems: Discrete-Time Impulse Response Descriptions
		Introduction
		Connections to State Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Linear Systems: Discrete-Time, Time-Invariant State Variable Descriptions
		Introduction
		Solving x(k+1)=Ax(k);  x(0) = x0
		System Response
		Equivalence of State Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Linear Systems: Discrete-Time, Time-Varying, State Variable Descriptions
		Introduction
		Solving x(k+1)=A(k)x(k); x(k0)= x0
		System Response
		Equivalence of State Variable Descriptions
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	LMI Approach to Robust Control
		Introduction of LMI
		Control Problems and LMI
		From BMI to LMI: Variable Elimination
		From BMI to LMI: Variable Change
		H2  and H∞ Control
		Regional Pole Placement
		Multi-objective Control
		Gain-Scheduled Control
		Summary and Future Direction
		Cross-References
		Bibliography
	Low-Power High-Gain Observers
		Introduction
		The Low-Power Observer Structure
		Sensitivity to High-Frequency Noise
		Variants of the Low-Power Observer
		Summary
		Cross-References
		Bibliography
	LTI Systems
	Lyapunov Methods in Power System Stability
		Introduction
		Energy Function Theory
		Optimally Estimating the Stability Region Using Energy Functions
		Application of Energy Functions to Electric Power Grids
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Lyapunov\'s Stability Theory
		Introduction
		Stability of Equilibrium Points
			Linear Systems
			Linearization
		Lyapunov\'s Method
			Time-Varying Systems
			Perturbed Systems
		Summary
		Cross-References
		Recommended Reading
		Bibliography
M
	Markov Chains and Ranking Problems in Web Search
		Introduction
		Markov Chains
		Ranking in Search Engines: PageRank Algorithm
		Aggregation Methods for Large-Scale Markov Chains
		Distributed Randomized Computation
		PageRank Optimization via Hyperlink Designs
		Summary and Future Directions
		Cross-References
		Bibliography
	Mathematical Models of Marine Vehicle-Manipulator Systems
		Introduction
		Sensory System
		Localization
		Actuation
		Modeling
		Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Mathematical Models of Ships and Underwater Vehicles
		Introduction
			Degrees of Freedom
			Hydrodynamics
			Notation
			Kinematics
		Kinetics
		Ship Model
		Underwater Vehicle Model
		Programs and Data
		Summary and Future Directions
		Cross-References
		Bibliography
	Matrix Equations in Control
		Introduction
		Matrix Equations in Control Theory and Its Applications
			Linear Matrix Equations
			Quadratic Matrix Equations
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Mean Field Games
		Definition
		Introduction
		Dynamical Agents
		Agent Performance Functions
		The Existence of Equilibria
		Current Developments
		Cross-References
		Bibliography
	Mechanical Design and Control for Speed and Precision
		Introduction
		Mechanical Design
			Thermal Drift
			Mechanical Resonances
			Runout (Off-Axis Motion)
		Motion Control
			High-Speed Trajectory Tracking
			Dealing with Hysteresis
			Disturbance Rejection
		Summary and Future Directions
		Cross-References
		Bibliography
	Mechanism Design
		Introduction
		Objectives and Equilibria
			Objectives
			Equilibrium Concepts
		The Vickrey-Clarke-Groves Mechanisms
		Summary and Future Directions
		Cross-References
		Bibliography
	Medical Cyber-Physical Systems: Challenges and Future Directions
		Introduction
		State of the Art
		Challenges
		Future Research Directions
		Summary
		Cross-References
		Bibliography
	Model building for control system synthesis
		Introduction
		The Role of Models for Control System Synthesis
			Detailed Models for System Simulation
			Compact Models for Control Design
				Linear Time-Invariant Models
				Linear Time-Varying Models
				Linear Parameter-Varying Models
		Building Models for Control System Synthesis
		Summary and Future Directions
		Cross-References
		Bibliography
	Model Order Reduction: Techniques and Tools
		Problem Description
		Methods
			Truncation-Based Methods
			Interpolation-Based Methods
		Tools
		Summary and Future Directions
		Cross-References
		Bibliography
	Model Predictive Control for Power Networks
		Introduction
		Overview of Power System Control
		Model Predictive Control (MPC)
		Applications
		Summary and Future Directions
		Cross-References
		Recommended Reading
		References
	Model Predictive Control in Practice
		Introduction
		MPC Fired Heater Example
		MPC Control Hierarchy
		MPC Algorithms
			Model Types
			State Estimation
			Steady-State Optimization
			Dynamic Optimization
			Numerical Solution Methods
		MPC Implementation
			Justification
			Pretest
			Step Test
			Modeling
			Control Configuration
			Commissioning
			Postaudit
			Sustainment
		Summary and Future Directions
		Cross-References
		Bibliography
	Model Reference Adaptive Control
		Synonyms
		Introduction
		MRC Controller Structure
		Adaptation Algorithm
		Lyapunov-SPR Design
		Certainty Equivalence Design
		MIT Rule
		Indirect MRAC
		Stability, Robustness, and Parameter Convergence
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Model-Based Performance Optimizing Control
		Introduction
		Performance Optimization by Regulation to Fixed Set Points
		Tracking of Necessary Conditions of Optimality
		Performance Optimization by Steady-State Optimization and Regulation
		Performance Optimizing Control
		History and Examples
		Further Issues
			Modeling and Robustness
			State Estimation
			Stability
			Reliability and Transparency
			Effort vs. Performance
		Cross-References
		Bibliography
	Model-Free Reinforcement Learning-Based Control for Continuous-Time Systems
		Introduction
		Optimal Regulation
			Model-Free Formulation
		Nash Games
			Model-Free Formulation
		Multi-agent Systems
			Model-Free Formulation
		Networked Systems with Intermittent/Hybrid Feedback
			Model-Free Formulation
		Optimal Tracking with Intermittent Feedback
		Summary and Future Directions
		Cross-References
		Bibliography
	Modeling Hybrid Systems
		Introduction
		From Continuous Toward Hybrid
			Base Continuous Model: ODEs
				Differential Inclusions
			Adding Discrete Phenomena
				Autonomous Switching
				Autonomous Jumps
				Controlled Switching
				Controlled Jumps
		From Discrete Toward Hybrid
			Base Discrete Model: Finite Automata
				General Automata
			Adding Continuous Phenomena
				Global Time
				Timed Automata
				Skewed-Clock Automata
				Multi-rate Automata
			Other Refinements
				Rectangular Automata
				Adding Control
		Hybrid Dynamical Systems and Hybrid Automata
			Adding Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Modeling of Dynamic Systems from First Principles
		Introduction
		Overview of Physical Modeling
		Physical Analogies and General structures
			Physical Analogies
			Bond Graphs
			Port-Controlled Hamiltonian Systems
		Component-Based Models and Modeling Languages
		Differential Algebraic Equations (DAE)
			Identification of DAE Models
			Differential Algebra
		Summary and Future Directions
		Cross-References
		Bibliography
	Modeling of Pandemics and Intervention Strategies: The COVID-19 Outbreak
		Introduction
		Mathematical Models and Control Approaches for Epidemics
			Compartmental Models
			Network-Based Models
			Control Approaches
		Modeling and Control of the COVID-19 Outbreak
		Summary and Future Directions
		Cross-References
		Bibliography
	Modeling, Analysis, and Control with Petri Nets
		Introduction
		Untimed Place/Transition Net Systems
		Analysis and Control of Untimed PT Models
		The Petri Nets Modeling Paradigm
			Other Untimed PN Formalisms: Levels of Expressive Power
			Extending Net Systems with External Events and Time: Nonautonomous Formalisms
			Fluid and Hybrid PN Models
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Models for Discrete Event Systems: An Overview
		Synonyms
		Introduction
		Event-Driven vs. Time-Driven Systems
		Timed and Untimed Models of Discrete Event Systems
		Automata
		Petri Nets
		Dioid Algebras
		Control and Optimization of Discrete Event Systems
		Cross-References
		Bibliography
	Monotone Systems in Biology
		Introduction
		Mathematical Preliminaries
		Monotone Dynamics
			Checking Monotonicity
			Asymptotic Dynamics
			Interconnected Monotone Systems
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Motion Description Languages and Symbolic Control
		Introduction
		Models and Approaches
		Applications and Connections
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Motion Planning for Marine Control Systems
		Introduction
		Formal Definitions and Settings
		Large-Scale, Long-Range Path Planning
		Trajectory Planning, Maneuvering Generation, and Guidance Systems
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Motion Planning for PDEs
		Introduction
		Linear PDEs
			Formal Integration
			Spectral Approach
			Trajectory Assignment
			Simulation Example
				Boundary Control Using Formal Integration
				In-Domain Control Using Spectral Approach
			Extensions and Generalizations
		Semi-linear PDEs
			Formal Integration
			Simulation Example
			Extensions and Generalizations
		Hyperbolic PDEs
		Summary and Future Directions
		Cross-References
		Bibliography
	Motorcycle Dynamics and Control
		Introduction
		A Basic Model
		Description of Motion
		The Whipple Bicycle Model
			Cornering at Constant Speed
			The Lean Equation
		The Steer Equation
			Modes of the Whipple Model
		Sharp71 Model 74:Sharp1971a
			Further Models
		Cross-References
		Bibliography
	Moving Horizon Estimation
		Introduction
		Full Information Estimation
		Related Problem: The Kalman Filter
		Moving the Horizon
		Estimator Properties: Stability
		Related Problem: Statistical Sampling
		Numerical Implementation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	MRAC
	MSPCA
	Multiagent Reinforcement Learning
		Introduction
		Background
			Framework
				Normal Form Games
				Markov Games
				Decentralized Partially Observable MDP (Dec-POMDP)
				Meta Games
			Challenges
				Non-stationarity
				Equilibrium Selection
				Credit Assignment
				Curse of Dimensionality
		Current Research Topics in MARL
			Game Theory
			Learning Communication
			Learning Coordination
			Knowledge Sharing
			Agent Modeling
		Domains of MARL
			Multiagent Particle Environment
			MAgent
			MuJoCo
			StarCraft II
			Dota 2
		Conclusion and Future Directions
		Cross-References
		Recommended Readings
		Bibliography
	Multi-domain Modeling and Simulation
		Introduction
		Modeling Language Principles
			Schematics: The Graphical View
			Coupling Components by Ports
			Component Equations
			Simulation of Multi-domain Systems
		Models for Control Systems
			Models for Analysis
			Inverse Models
		The Functional Mockup Interface
		Summary and Future Directions
		Cross-References
		Bibliography
	Multi-objective H2/H Control Designs
		Introduction
		Youla-Kučera Parameterization and Implementation
		H∞ Gaussian Control
		LQG Control with -Regulation
		Summary and Future Directions
		Cross-References
		Bibliography
	Multiple Mobile Robots
		Introduction
		Aims and Applications
		Control Architectures and Strategies
		Future Directions
		Cross-References
		Bibliography
	Multiscale Multivariate Statistical Process Control
		Synonyms
		Definition
		Motivation and Background
		The Approach
		The Algorithm
		Other Applications of Multiscale MPCA
		Cross-References
		Bibliography
	Multi-vehicle Routing
		Introduction
			Motivation and Background
			Related Problems
		Approaches for Multi-vehicle Routing
			Heuristic Approach
			Competitive Analysis Approach
			Spatial Queueing Theory
		Applying Spatial Queueing Theory to DVR Problems
			Spatial Queueing Theory Workflow for DTRP
				Model
				Fundamental Limitations of Performance
				Design of Routing Algorithms
				Mode of Implementation
			Extensions and Discussion
		Summary and Future Directions
		Cross-References
		Bibliography
N
	Nash Equilibrium
	Nash Equilibrium Seeking over Networks
		Introduction
			Motivating Examples
		NE Characterization and Classical NE Seeking
		NE Seeking over Networks
			Two Time-Scale Separation or Diminishing Step-Sizes
			Single-Time-Scale Dynamics
				Comparison to Distributed Optimization and Multi-agent Agreement
		Summary and Future Directions
		Cross-References
		Bibliography
	Network Games
		Introduction
		Resource Allocation and Game Theory
		Summary and Future Directions
		Cross-References
		Bibliography
	Networked Control Systems: Architecture and Stability Issues
		Introduction
		Architecture of Networked Control Systems
			Band-Limited Channels
			Sampling and Delays
			Packet Dropouts
			Modeling Errors, Uncertainties, and Disturbances
		Stability of Networked Control Systems
			Band-Limited Channels
			Network-Induced Delays
			Control Network Scheduler
			Delays and Packet Dropouts
		Summary and Future Directions
		Cross-References
		Bibliography
	Networked Control Systems: Estimation and Control over Lossy Networks
		Introduction
		Two-Link Networks
			Optimal Estimation with Remote Computation
			Optimal Control with Remote Computation
			Estimation with Local Computation
			Drops in the Acknowledgement Packets
			Buffering
			Estimation with Markovian Drops
		Networks with Multiple Links
		Estimation with Controlled Communication
		Summary and Future Directions
		Cross-References
		Bibliography
	Networked Systems
		Introduction
		Perspective from Systems and Control
		Research Issues and How the Articles in the Encyclopedia Address Them
		Summary and Future Directions
		Cross-References
		Bibliography
	Neuro-Inspired Control
		Neural Feedback Control
			NN Controller for Continuous-Time Systems
			NN Controller for Discrete-Time Systems
			Feed-Forward Neurocontroller
		Approximate Dynamic Programming for Feedback Control
			Optimal Adaptive Control of Discrete-Time Nonlinear Systems
			Optimal Adaptive Control of Continuous-Time Nonlinear Systems
			On-Policy Versus Off-Policy Regulation and Tracking Methods
			Games
		Summary and Future Directions
		Cross-References
		Bibliography
	Noise Spectra in MEMS Coriolis Vibratory Gyros
		Introduction
		Resonator Model
		Open-Loop CVG
		Closed-Loop CVG
		Angle Random Walk and Allan Variance Representation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Noisy Channel Effects on Multi-agent Consensus
		Introduction
		Quantized Consensus
		Average Consensus with Additive Noises
		Packet Dropouts
		Summary and Future Research
		Cross-References
		Bibliography
	Nominal Model-Predictive Control
		Introduction
		Model-Predictive Control
		Recursive Feasibility
		Stability
		Performance
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Nonlinear Adaptive Control
		Introduction
		Linearly Parameterized Systems
		Output Feedback Adaptive Control
		Nonlinear Parameterized Systems
		Summary and Future Directions
		Cross-References
		Recommended Reading and References
		Bibliography
	Nonlinear Filters
		Description of Nonlinear Filters
		Bayesian Formulation of Filtering Problem
		Nonlinear Filter Algorithms
		Discrete-Time Measurement Models
		Summary and Future Directions
		Cross-References
		Bibliography
	Nonlinear Sampled-Data Systems
		Introduction
		Modeling
		The Main Issues and Analysis
		Controller Design
		Summary and Future Directions
		Cross-References
		Bibliography
	Nonlinear System Identification Using Particle Filters
		Introduction
			Bayesian Problem Formulation
			Maximum Likelihood Problem Formulation
		Sequential Monte Carlo
			Importance Sampling
			Particle Filter
			Particle Smoother
		Bayesian Solutions
			Strategies
			A Nontrivial Example
		Maximum Likelihood Solutions
		Online Solutions
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Nonlinear System Identification: An Overview of Common Approaches
		Introduction
		Gray-Box Models
			Parametrized Physical Models
			Combined Physical and Black-Box Models
			Block-Oriented Models
				Hammerstein System Identification
				Wiener System Identification
				Other Block-Oriented Model Structures
			LPV Models
				From Gain Scheduling to LPV Models
				Local Linear Models
		Black-Box Models
			Input-Output Black-Box Models
			Nonlinear Function Estimators
			State-Space Black-Box Models
		Multiple-Input Multiple-Output Systems
		Some Practical Issues
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Nonlinear Zero Dynamics
		Introduction
		The Zero Dynamics
		Normal Forms
		The Inverse System
		Input-Output Linearization
		Asymptotic Properties of the Zero Dynamics
		Zero Dynamics and Stabilization
		Output Regulation
		Passivity
		Limits of Performance
		Summary and Future Directions
		Cross-References
		Bibliography
	Nonparametric Techniques in System Identification
		Introduction
		The Leakage Problem
		Nonparametric Time-Domain Techniques
			Correlation Methods
			Gaussian Process Regression
		Nonparametric Frequency-Domain Techniques
			Empirical Transfer Function Estimation
			Spectral Analysis Method
			Advanced Methods
		Extensions
			Systems Operating in Feedback
			Noisy Input, Noisy Output Observations
			Nonlinear Systems
		User Choices
		Guidelines
		Summary and Future Directions
		Cross-References
			Recommended Reading
		Bibliography
	Nonparametric Techniques in System Identification: The Time-Varying and Missing Data Cases
		Introduction
		Advanced Nonparametric Frequency Domain Techniques
		Extensions to the Time-Varying and Missing Data Cases
			Detection and Quantification of Time-Varying Effects
			Parameter-Varying Systems
			Missing Data
		Guidelines
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Non-raster Methods in Scanning Probe Microscopy
		Introduction
		Scanning Patterns with Reduced Frequency Content
		Sub-sampling the Image
		Feature-Tracking
		Summary and Future Directions
		Cross-References
		Bibliography
	Numerical Methods for Continuous-Time Stochastic Control Problems
		Introduction
		Markov Chain Approximation
		Illustration: A One-Dimensional Problem
		Numerical Computation
		Further Remarks
		Cross-References
		Bibliography
	Numerical Methods for Nonlinear Optimal Control Problems
		Introduction
		Hamilton-Jacobi-Bellman Approach
		Maximum Principle Approach
		Direct Discretization
		Further Approaches for Infinite Horizon Problems
		Summary and Future Directions
		Cross-References
		Bibliography
O
	Observer-Based Control
		Introduction
		Dynamic Output Feedback Control
		Observer-Based Controllers
		State Observers
		Observer-Based Stabilization
		Summary and Future Directions
		Cross-References
		Bibliography
	Observers for Nonlinear Systems
		Introduction
		Observation Problem and Its Solutions
			The Observation Problem
			Set Valued and Conditional Probability Valued Observers
			An Optimization Approach
		Convergent Observers
			Necessary Conditions for Observer Convergence
				No Restriction on τ
				τ Is Injective Given h
			Sufficient Conditions
				Observers Based on Contraction
				Observers Based on Instantaneous Distinguishability
				Observers With τ Bijective Given h
		Cross-References
		Bibliography
	Observers in Linear Systems Theory
		Introduction
		State Observer
		Detectability
		Reduced Order Observer
		Summary and Future Directions
		Cross-References
		Recommended Reading and References
		Bibliography
	Opacity of Discrete Event Systems
		Introduction
		Opacity in Finite Automata
			Notation and Preliminaries
			Current-State Opacity
			Other State-Based Notions of Opacity
			Language-Based Opacity
			Weak Notions of Opacity
		Opacity Enforcement and Label Insertion
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Optimal Control and Mechanics
		Variational Nonholonomic Systems and Optimal Control
		The n-Dimensional Rigid Body
		Kinematic Sub-Riemannian Optimal Control Problems
		Cross-References
		Bibliography
	Optimal Control and Pontryagin\'s Maximum Principle
		Optimal Control
		The Maximum Principle
		The Hamiltonian System
		Refinements
		The Nonsmooth Maximum Principle
		Example
		Cross-References
		Recommended Reading
		Bibliography
	Optimal Control and the Dynamic Programming Principle
		Introduction
		The Infinite Horizon Problem
			DPP for the Infinite Horizon Problem
		The Hamilton–Jacobi–Bellman Equation
		An Extension to the Minimum Time Problem
		Further Extensions and Related Topics
		Cross-References
		Bibliography
	Optimal Control via Factorization and Model Matching
		Introduction
		Notation and Nomenclature
		Coprime and Spectral Factorizations
		Affine Controller/Performance-Map Parametrization
		Model-Matching via Spectral Factorization
		Summary
		Cross-References
		Bibliography
	Optimal Control with State Space Constraints
		Problem Formulation and Terminology
		Necessary Conditions for Optimality
			Special Case: A Mayer Problem for Single-Input Control Linear Systems
			Informal Formulation of Necessary Conditions
		Sufficient Conditions for Optimality
			Examples of Local Embeddings of Boundary Arcs
		Cross-References
		Bibliography
	Optimal Deployment and Spatial Coverage
		Introduction
		Basic Ingredients from Computational Geometry
		Expected-Value Multicenter Functions
			Distortion Problem
			Area Problem
		Optimal Deployment Algorithms
		Simulation Results
			Future Directions for Research
		Cross-References
		Bibliography
	Optimal Sampled-Data Control
		Introduction
		The Main Difficulty
		Lifting: A Modern Approach
		H∞ and H2 Control Problems
		H∞ Norm Computation and Reduction to Finite Dimension
		An H∞ Design Example
		Summary, Bibliographical Notes, and Future Directions
		Cross-References
		Bibliography
	Optimization Algorithms for Model Predictive Control
		Introduction
			General Algorithmic Features for MPC Optimization
				Off-line Precomputations and Code Generation
				Delay Compensation by Prediction
				Division into Preparation and Feedback Phase
				Warmstarting and Shift
				Iterating While the Problem Changes
		Convex Optimization for Linear MPC
			Sparsity Exploitation
				Condensing
				Banded Matrix Factorization
			Treatment of Inequalities
				Active Set Methods
				Interior Point Methods
				Gradient Projection Methods
		Optimization Algorithms for Nonlinear MPC
			Simultaneous vs. Sequential Formulation
			Newton-Type Optimization
				Sequential Quadratic Programming (SQP)
				Nonlinear Interior Point (NIP) Method
			Continuation Methods and Tangential Predictors
				Generalized Tangential Predictor and Real-Time Iterations
		Cross-References
		Recommended Reading
		Bibliography
	Optimization-Based Control Design Techniques and Tools
		Introduction
		Structured Controllers
		Optimization Techniques Over the Years
		Non-smooth Optimization Techniques
		Computational Tools
		Applications
			Illustrative Example
			Gain-Scheduling Control
		Cross-References
		Bibliography
	Optimization-Based Robust Control
		Linear Robust Control
		Uncertainty Models
		Nonconvex Nonsmooth Robust Optimization
		Software Packages
		Cross-References
		Bibliography
	Option Games: The Interface Between Optimal Stopping and Game Theory
		Introduction
		Capital Budgeting Ignoring Strategic Interactions
			Net Present Value
			Real Options Analysis
		Accounting for Strategic Interactions in Capital Budgeting
			Strategic Uncertainty
			Game Theory
			Option Games
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Oscillator Synchronization
		Introduction
		The Kuramoto Model
		Synchronization
		Rendezvous, Consensus, Flocking, and Infinitely Many Oscillators
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Output Regulation Problems in Hybrid Systems
		Introduction
		Stabilization Obstructions in Hybrid Regulation
			Asynchronous Jumps
			Synchronous Jumps
		Hybrid Steady-State Generation
			The Full Information Case
			The Error Feedback Case
		Key Features in Hybrid vs Classical Output Regulation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
P
	Parallel Robots
		Introduction
		Modeling
			Kinematics
			Dynamics
		Motion Control
			Exactly Actuated Parallel Robots
			Redundantly Actuated Parallel Robots
		Force Control
		Cross-References
		Recommended Reading
		Bibliography
	Particle Filters
		Introduction
		The Basic Particle Filter
		Example: First-Order Linear Gaussian Model
		Proposal Distributions
		Adaptive Resampling
		Marginalization
		Illustrative Application: Navigation by Map Matching
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Passivity and Passivity Indices for Switched and Cyber-physical Systems
		Introduction
		Passivation
		Passivity and Passivity Indices in Switched and Hybrid Systems
		Passivity Indices in Networked Control Systems
		Event-Triggered Networked Control Systems
		Further Readings
		Cross-References
		Bibliography
	Passivity, Dissipativity, and Passivity Indices
		Passivity and Passivity Indices
		Stability
		Passivity in Linear Systems
		Computation of Passivity Indices
		Further Readings
		Cross-References
		Bibliography
	Passivity-Based Control
		Introduction
		Equilibrium Stabilization via PBC
			Energy-Balancing PBC and the Dissipation Obstacle
			Generating Alternative Passive Outputs
			Interconnection and Damping Assignment (IDA)-PBC
			Proportional-Integral-Derivative (PID)-PBC
				Shifted Passivity
				Lyapunov Stabilization via PID-PBC
			Standard PBC of Euler-Lagrange (EL) Systems
				Mathematical Model and Passivity Property
				Standard PBC
		Summary and Future Directions
		Cross-References
		Bibliography
	Pattern Formation in Spin Ensembles
		Introduction
		Control of Spin Ensembles
		Ensemble Control Problems of Pulse Design
			Ensemble Controllability
		Pulse-Enabled Pattern Formation
			Generation of Parameter-Dependent Rotations
		Coherence Transfer in Spin Networks
		Alternating Optimization for Optimal Pulse Synthesis
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Perturbation Analysis of Discrete Event Systems
		Introduction
		DES Setting for IPA
			Queueing Example
		IPA Extensions
		SFM Framework for IPA
		Summary and Current Research Directions
		Cross-References
		Bibliography
	Perturbation Analysis of Steady-State Performance and Relative Optimization
		Introduction
		Gradient-Based Approaches
			Basic Ideas
			Queueing Systems
			Markov Systems
			Further Works
		Direct Comparison and Policy Iteration
			Policy Iteration and the Optimality Equation
		Event-Based Optimization
		The Relative Optimization Approach, Stochastic Control, and Others
		Conclusion
		Cross-References
		Bibliography
	Physical Human-Robot Interaction
		Introduction
		Human-Robot Interaction Technology
			Actuation System
			Sensing System
			Control System
				Collision Reaction
				Manual Guidance
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	PID Control
		Synonyms
		Introduction
		Basics
		Additional Functionalities
			Modifications of the Derivative Action
			Set-Point Weighting for Proportional Action
			Anti-windup
		Tuning
			Empirical Tuning
			Model-Based Tuning
			Optimal Tuning
			Robust Tuning
		Automatic Tuning
		Design Tools
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	PIDs and Biquads: Practical Control of Mechatronic Systems
		Introduction
		PID Concepts
		Filtering Higher-Order Dynamics
		Identifying a Plant Model
		Putting It All Together: An Example
		Summary
		Cross-References
		Bibliography
	Pilot-Vehicle System Modeling
		Introduction
		Main Variables of the Pilot-Aircraft System
		Types of Pilot-Aircraft Systems
		Pilot Control Response Characteristics
		Modeling Pilot Behavior in Manual Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Polynomial/Algebraic Design Methods
		Stabilizing Controllers
		Additional Performance Specifications
			Asymptotic Properties
			H2 Optimal Control
			Robust Stabilization
		Polynomial Equation Approach
			Pole Placement
			H2 Optimal Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Port-Hamiltonian Systems: From Modeling to Control
		Introduction
		Port-Hamiltonian Systems
			Passivity and Shifted Passivity
			Stability Analysis by Energy-Casimir Method
		Control by Interconnection
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Power System Voltage Stability
		Introduction
		Single Generator-Load (Radial) System
			Maximum Power Transfer
			Load Dynamics and Voltage Stability
			Effect of Generation
		Voltage Instability Mechanism
		Multiple-Load (Meshed) System
		Applications
		Cross-References
		Bibliography
	Powertrain Control for Hybrid-Electric and Electric Vehicles
		Introduction
			HEV Powertrains
			HEV Operation
		Control Problems in X-EVs
			Optimal Energy Management
				Global Optimization by Dynamic Programming
				Local Optimization by Equivalent Fuel Consumption Minimization
				Optimization by Pontryagin\'s Minimum Principle
			Mode Switching
			Battery Management Systems
		Summary and Future Directions
			Vehicle-Grid Interaction
			Intelligent Transportation Systems
		Cross-References
		Bibliography
	Privacy in Network Systems
		Introduction
		Defining Privacy
		Basic Differentially Private Mechanisms
		Differentially Private Filtering
		Privacy-Preserving Distributed Computations
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Programmable Logic Controllers
		Introduction
		Execution Model
		Software Model and Programming
		Summary and Future Directions
		Cross-References
		Bibliography
	Proportional-Integral-Derivative Control
	Pursuit-Evasion Games and Zero-Sum Two-Person Differential Games
		Historical Perspective
		General Setup
		Strategies and Value
		Games of Pursuit Evasion
			Qualitative Game
			Quantitative Game
			Other Approaches
		Games of Finite Duration
		Conclusion
		Cross-References
		Bibliography
Q
	Quantitative Feedback Theory
		Acronym
		Definition
		Historical Notes
		Fundamentals
			Define Plant Dynamics, Model Uncertainty, and QFT Templates (Steps 1, 2 and 3)
			Define Control Specifications (Steps 4 and 5)
			QFT Bounds (Steps 6, 7 and 8)
			Controller G(jω) Design: Loop Shaping (Step 9)
			Prefilter F(jω) Design (Step 10)
			Validation (Steps 11, 12, 13)
		Programs and Data
		Applications and Future Directions
		Cross-References
		Bibliography
	Quantized Control and Data Rate Constraints
		Introduction
		Quantization
		Quantized Control: Basic Formulation
		Additive Noise Model
		The Data Rate Theorem
		Zooming Quantized Control
		Erroneous Digital Channels
		Summary and Future Directions
		Cross-References
		Bibliography
	Quantum Networks
		Introduction
		Open Quantum Systems
		Series Network
		Coherent Feedback
		Measurement Feedback
		Summary and Future Directions
		Cross-References
		References
	Quantum Stochastic Processes and the Modelling of Quantum Noise
		Introduction
		Quantum Probability Theory and Quantum Stochastic Processes
		Summary and Future Directions
		Cross-References
		Recommended Reading
		References
R
	Randomized Methods for Control of Uncertain Systems
		Introduction
		Monte Carlo Randomized Algorithms for Analysis
			Monte Carlo Randomized Algorithm
			Two-Sided Hoeffding Inequality
			Chernoff Bound
		Randomized Algorithms for Control Design
			Feasibility Problem
			Optimization Problem
				Convexity Assumption
				Paradigm 1 (Sequential Approach)
				Paradigm 2 (Scenario Approach)
		Summary and Future Directions
		Cross-References
		Bibliography
	Realizations in Linear Systems Theory
		Introduction
		Continuous-Time Linear Systems
		Discrete-Time Linear Systems
		Realization Algorithms
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Real-Time Optimization of Industrial Processes
		Synonyms
		Introduction
		Control Layers and the RTO Concept
		Four Elements of Classical Real-Time Optimization
			Steady-State Detection (SSD)
			Data Reconciliation (DR)
			Model Updating
			Solving the Optimization Problem
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Redundant Robots
		Introduction
		Task-Oriented Kinematics
			Singularities
			Null-Space Velocities
			Inverse Differential Kinematics
		Redundancy Resolution via Optimization
			Performance Criteria
			Local Optimization
			Global Optimization
		Redundancy Resolution via Task Augmentation
			Extended Jacobian
			Augmented Jacobian
			Algorithmic Singularities
			Task Priority
		Second-Order Redundancy Resolution
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Regulation and Tracking of Nonlinear Systems
		Introduction
		The Generalized Tracking Problem for Nonlinear Systems
		Output Regulation Principles
			Steady State for Nonlinear Systems and Internal Model Principle
			Regulator Design
		Summary and Future Directions
		Cross-References
		Bibliography
	Rehabilitation Robots
		Introduction
		Robot Architectures
		Common Features of Rehabilitation Robots
		Summary and Future Directions
		Cross-References
		Bibliography
	Reinforcement Learning and Adaptive Control
		Introduction
		RL in the Markov Decision Process Framework
			Q-Learning and Other Value-Based Methods
			Policy Gradient (PG) and Actor-Critic Methods
			Model-Based RL or ``Indirect RL\'\'
		Connections Between RL and Adaptive Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Reinforcement Learning for Approximate Optimal Control
		Introduction
		Dynamic Programming Overview
		Actor-Critic Approximation
		Summary and Future Directions
		Cross-References
		Bibliography
	Reinforcement Learning for Control Using Value Function Approximation
		Introduction
		Reinforcement Learning for Control Using Value Function Approximation
			Policy Evaluation by Value Function Approximation
			Policy Optimization by Value Function Approximation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Reverse Engineering and Feedback Control of Gene Networks
		Introduction
		Reverse Engineering Methods
		Controlling Gene Networks
		Summary and Future Directions
		Cross-References
		Bibliography
	Risk-Sensitive Stochastic Control
		Risk-Sensitive Criterion
		H-J-B Equations
		Singular Limits and H∞ Control
		Risk-Sensitive Asset Management
		Problems on Infinite Horizon
		Cross-References
		Bibliography
	Robot Grasp Control
		Introduction
		Grasp Modeling and Control
			Contact and Grasp Model
			Controllable Wrenches and Twists
			Force Closure and Grasp Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robot Learning
		Introduction
		Types of Learning
			Supervised Learning
			Unsupervised Learning
			Reinforcement Learning
			Combinations
		Scope of Learning
			Components
				Models
				Sensing
				Acting
			End-to-End
		Summary and Future Directions
			Challenges in Robot Learning
			Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robot Motion Control
		Introduction
		Motion Planning
		Trajectory Generation
		Independent Joint Control
		Two-Degree-of-Freedom Controller
		The Closed-Loop Systems
		Set-Point Tracking
		PID Control
		Feedforward Control
		Advanced Control Methods
		Feedback Linearization Control
		Robust and Adaptive Control
		Robust Feedback Linearization
		Passivity-Based Control
		Linearity in the Parameters
		Passivity-Based Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robot Teleoperation
		Introduction
		General Description of a Telemanipulation System
			The Master
			The Slave
			The Communication Line
		An Overview on Applications
			Space Applications
			Underwater
			Medical Telerobotics
			Security
			Telerobotics in Hazardous Environments
			Telerobotics in Mining and Other Industries
		The Control Problem
			Traditional Force Reflection Teleoperation
			Shared Compliance Control
			Passivity-Based Teleoperation
				Lossless Transmission Line
			Predictive Control
			Four-Channel Scheme
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robot Visual Control
		Introduction
		Basic Theory
			The Features Jacobian
			The Interaction Matrix
			Control
		Applications
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robust Adaptive Control
		Introduction
		Classical Adaptive Control
			Adaptive Control of Plants with State Feedback
			Adaptive Control of Plants with Output Feedback
			Need for Robust Adaptive Control
		Robust Adaptive Control with Modifications in the Adaptive Law
			Robustness to Bounded Disturbances
			Robustness to Unmodeled Dynamics
				Global Boundedness in the Presence of a Small Class of Unmodeled Dynamics
				Global Boundedness for a Large Class of Unmodeled Dynamics: A First-Order Example
				Adaptive Control in the Presence of Magnitude Constraints on the Input
				Adaptive Augmentation of Robust Controllers
				Robustness Modifications to Track Time-Varying Parameters
		Robust Adaptive Control with Persistently Exciting Reference Input
		Cross-References
		Bibliography
	Robust Control in Gap Metric
		Introduction
		Gap Computation and Robust Stabilization
		The ν-Gap
		Networked Robust Stabilization
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robust Control of Infinite-Dimensional Systems
		Introduction
		Robust Control Design Objectives
		Design Methods
			Approximation of the Plant
			Direct Design Methods
			Optimal H∞-Controller
		Summary and Future Directions
		Cross-References
		Bibliography
	Robust Fault Diagnosis and Control
		Introduction
		Plant Model and Factorization Technique
		Parametrization of Stabilizing Controllers
		Parametrizations of Residual Generators
		Integration of Controller and Residual Generator into a Control Loop
		Robustness of Diagnostic and Control Systems
		An Integrated Design Scheme for Robust Diagnosis and Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Robust H2 Performance in Feedback Control
		Introduction
		H2 Optimal Control
		Model Uncertainty and Robustness
		Robust H2 Performance Analysis
			A Frequency Domain Robust Performance Criterion
			A State-Space Criterion Invoking Causality
		Robust H2 Synthesis
			Multiobjective H2/H∞ Control
			Synthesis for Robust Performance
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Robust Model Predictive Control
		Introduction
		Understanding MPC Under Uncertainty
		Uncertainty Effect on Robust MPC Synthesis
		Exact Robust MPC: Contemporary Setting
		Alternative Approaches to Robust MPC
			Inherent Robustness of MPC
			Scenario-Based Approaches for Robustness
			Parameterized Predictions and Control Policy
		Tube MPC
			Rigid Tube MPC
			Homothetic Tube MPC
			Elastic Tube MPC
			Tube MPC with Time-Varying Cross Sections
			Tube MPC with Optimized Time-Varying Cross Sections
			Parameterized Tube MPC
		Closing Remarks and Recommended Reading
		Cross-References
		Bibliography
	Robust Synthesis and Robustness Analysis Techniques and Tools
		Introduction
		Notation
		Theoretical Tools
			Uncertainty Modeling
			Performance Metric
			Robustness Analysis
			Robust Synthesis
		Computational Tools
		Conclusions
		Cross-References
		Bibliography
	Robustness Analysis of Biological Models
		Introduction
		Robustness Analysis with Parametric Perturbations
			The Qualitative Dynamical Behavior
			The Steady-State Output Concentration
		Robustness Analysis with Structural Perturbations
		Summary and Future Directions
		Cross-References
		Bibliography
	Robustness Issues in Quantum Control
		Introduction
		Robust Open-Loop Control of Quantum Systems
		Robustness Analysis for Uncertain Quantum Systems
		Robust Feedback Control of Quantum Systems
			Schrödinger Picture Approaches to Robust Measurement-Based Quantum Feedback Control
			Heisenberg Picture Approaches to Robust Quantum Feedback Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Routing in Transportation Networks
		Introduction
		Routing Dynamical Traffic Flow over Network
			Traffic Flow Dynamics
			Fixed Routing
			Dynamic Routing
		Routing Under Driver Preferences
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	RTO
	Run-to-Run Control in Semiconductor Manufacturing
		Introduction
		Run-to-Run Control Approach
		Current Status and Future Extensions
		Summary and Future Directions
		Cross-References
		Bibliography
S
	Safety Guarantees for Hybrid Systems
		Introduction
			Models
			Safety
		Safety Verification and Safety-Critical Control
			Set Propagation Methods
				Forward Reachability
				Backward Reachability
				Computations
				Software
			Lyapunov-Based Optimization Techniques
				Technicalities
				Scalability Improvements
				Software
			Formal Methods and Abstraction
				Software
			Probabilistic Techniques
		Summary and Future Directions
		Cross-References
		Bibliography
	Sampled-Data H-Infinity Optimization
		Introduction
		Sampled-Data Control
		Sampled-Data H∞ Discretization
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Sampled-Data Systems
		Introduction
		Higher-Order Hold
		Discrete-Time Models
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Satellite Control
		Introduction
		Mission Types
		Attitude Control
		Relative Position Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Scale-Invariance in Biological Sensing
		Introduction
		Scale Invariance
			Example: Feedforward Circuits
		Cross-References
		Bibliography
	Scanning Probe Microscope Imaging Control
		Introduction
		SPM Imaging Control
			Lateral Scanning Control
			Vertical Sample Topography Tracking
		Recent Trends
			Optimization of SPM Imaging Process
			Simultaneous Topography Imaging and Property Mapping
		Cross-References
		Bibliography
	Scheduling of Batch Plants
		Introduction
		The Nature of Batch Plants
		Production Scheduling of Batch Plants
		Solution Approaches
			Product Wheel
			Dispatching Rules Used in Discrete Manufacturing
			Improvement Heuristics
			Tree Search Methods
			Simulation
			Selecting a Solution Approach
		Summary and Future Directions
		Cross-References
		Bibliography
	Sensor Drift Rejection in X-Ray Microscopy: A Robust Optimal Control Approach
		Introduction
		Drift Compensation Through Feedback Control
		Experimental Setup and Results
		Summary
		Cross-References
		Bibliography
	Simulation of Hybrid Dynamic Systems
		Introduction
		Motivating Examples
			Switched Control: A Thermostat
			State Reinitialization: A Bouncing Ball
			Event Iteration: A Freewheeling Diode
		Semantic Domains
			Integer Evolution Behavior
			Finite State Value Behavior
			Continuous Execution Behavior
			Multidimensional Evolution Domains
		Piecewise Continuous Systems
			Event Detection
			Mode Transition and State Reinitialization
			A Mode Transition and Reinitialization Example
			Modeling Diode Behavior
			A Hyperdense Semantic Domain and Numerical Simulation
			Pathological Behavior
		Multiparadigm Modeling
		Behavior Generation Engines
		Conclusions
		Cross-References
		Bibliography
	Single-Photon Coherent Feedback Control and Filtering
		Single-Photon States
		Linear Response to Single-Photon States
		Single-Photon Pulse Shaping
		Single-Photon Filtering
		Summary and Future Directions
		Cross-References
		References
	Singular Trajectories in Optimal Control
		Introduction
		Definition
		Fréchet Derivative and Linearized System
		Computation of the Singular Trajectories and Pontryagin Maximum Principle
		Application to the Lagrange Problem
		The Role of Singular Extremals in Optimal Control
			Singular Trajectories in Quantum Control
			Abnormal Extremals in SR Geometry
		Summary and Future Directions
		Cross-References
		References
	Sliding Mode Control: Finite-Time Observation and Regulation
		Introduction
		Basic Notions
		Finite-Time Output Regulation
			Homogeneous SMC
			Differentiation and Filtering
			Homogeneous Output Feedback SMC
			Discretization
		Examples
		Summary and Future Directions
		Cross-References
		Bibliography
	Small Phase Theorem
		Introduction
		Phases of a Complex Matrix
		Matrix Small Phase Theorem
		Phase Response of a MIMO LTI System
		LTI Small Phase Theorem
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Small Signal Stability in Electric Power Systems
		Small Signal Rotor Angle Stability in Power Systems
		Small Signal Stability Analysis Tools for Large Power Systems
		Applications of Small Signal Stability Analysis in Power Systems
		Cross-References
		Bibliography
	Space Robotics
		Introduction
		Fundamentals
		Core Disciplines
		Mathematical Model of an Orbiting Space Robot
			Current Efforts and Perspective on Future Developments
		Dedication
		Cross-References
		Bibliography
	Spacecraft Attitude Determination
		Introduction
		Attitude Determination
			Wahba\'s Problem
			Maximum Likelihood Estimation
		Attitude Filtering
		Summary and Future Work
		Cross-References
		Bibliography
	Spatial Description of Biochemical Networks
		Introduction
		Accounting for Spatial Distribution in Models
			Compartmental Models
			Diffusion and Advection
			Measuring Diffusion Coefficients
			Diffusion-Limited Reaction Rates
		Spatial Patterns
			Morphogen Gradients
			Diffusion-Driven Instabilities
		Summary and Future Directions
		Cross-References
		Bibliography
	Spectral Factorization
		Polynomial Spectral Factorization
		Polynomial Matrix Spectral Factorization
		J-Spectral Factorization
		Nonsymmetric Spectral Factorization
		Algorithms and Software
			Factor Extraction Method
			Bauer\'s Algorithm
			Newton-Raphson Iterations
			Factorization via Riccati Equation
			FFT Algorithm
		Consequences and Comments
		Cross-References
		Recommended Reading
		Bibliography
	Stability and Performance of Complex Systems Affected by Parametric Uncertainty
		Introduction
		Stability of Linear Systems Subject to Parametric Uncertainty
			Simple Solutions
			Complex Solutions
			Difficult Problems: Possible Approaches
		Robust Control
			Robust Stabilization
			Robust Performance
		Summary and Future Directions
		Cross-References
		Bibliography
	Stability Theory for Hybrid Dynamical Systems
		Introduction
		Mathematical Modeling
			System Data
			Solutions
		Stability Theory
			Definitions and Relationships
			Robustness
			Lyapunov Functions
		Summary and Future Directions
		Cross-References
		Bibliography
	Stability: Lyapunov, Linear Systems
		Introduction
		Definitions
		Stability of Linear Systems
		Summary and Future Directions
		Cross-References
		Bibliography
	State Estimation for Batch Processes
		Introduction
		Model-Based State Estimation
		Calorimetry
		Summary
		Cross-References
		Bibliography
	Statistical Process Control in Manufacturing
		Introduction
		Shewhart Control Charts
		EWMA, CUSUM, and Changepoint Estimation
		SPC on Controlled and Autocorrelated Processes
		SPC for Monitoring Surface, Image, and Point Cloud Data
		Summary and Future Directions
		Cross-References
		Bibliography
	Stochastic Adaptive Control
		Introduction
		Motivation and Background
		Structures and Approaches
		A Detailed Example: Adaptive Linear-Quadratic-Gaussian Control
		Future Directions
		Cross-References
		Bibliography
	Stochastic Approximation with Applications
		Introduction
		RM Algorithm and Its Convergence Analysis
			Probabilistic Method
			ODE Method
		SA Algorithms Modified from RM Algorithm
			Algorithm with Constant Step-Size
			SA Algorithm with Expanding Truncations (SAAWET)
		Application of SA to Optimization
			Kiefer-Wolfowitz Algorithm and Its Randomization
			Distributed Stochastic Optimization
		Application of SA to Systems and Control
			Parameter Estimation by SA
			Other Applications
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Stochastic Description of Biochemical Networks
		Introduction
		Stochastic Models of Chemical Reactions
		Limiting to the Deterministic Regime
		Stochastic Simulations
		The Chemical Master Equation (CME)
		Moment Dynamics
		Conclusion and Outlook
		Cross-References
		Bibliography
	Stochastic Dynamic Programming
		Introduction
		Terminology
		An Asset-Selling Example (Discrete Time)
		An Asset-Selling Example (Continuous Time)
		HJB Equation Characterization and Computational Methods
		Summary and Future Directions
		Cross-References
		Bibliography
	Stochastic Fault Detection
		Introduction
		Objective and General Structure
		The Existing Approaches
			Model-Based Fault Detection for Stochastic Systems
				State Space Model-Based Fault Detection and Diagnosis
				Input-Output Model-Based Fault Detection and Diagnosis
				Fault Detection and Diagnosis for Unknown Systems
			Data-Driven Fault Detection and Diagnosis for Stochastic Systems
				Change Detection for Random Signals
				The Use of Principal Component Analysis (PCA) for Fault Detection and Diagnosis
				Total Probabilistic Fault Detection and Diagnosis
		Conclusions and Future Perspectives
		Cross-References
		Bibliography
	Stochastic Games and Learning
		Introduction
			A Stochastic Game
			Learning
		Model of Stochastic Game
			Strategies
			The Total Payoff Types
			Equilibria
			Construction of an Equilibrium
			A Brief History of the Research on Stochastic Games
		Learning in Stochastic Game
		Summary and Future Directions
		Cross-References
		Bibliography
	Stochastic Linear-Quadratic Control
		Introduction
		The Case of Random Coefficients and Backward Stochastic RiccatiEquation
		Indefinite SLQ Problem
		Mean-Variance Hedging
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Stochastic Maximum Principle
		Introduction
		Statement of SMP
			Formulation of Problem
			Adjoint Equations
			Stochastic Maximum Principle
		SMP in Infinite-Dimensional Space
		Cross-References
		Bibliography
	Stochastic Model Predictive Control
		Introduction
		Stochastic MPC
		Constraints and Recursive Feasibility
		Stability and Convergence
		Implementation Issues
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Stock Trading via Feedback Control Methods
		Introduction
		Feedback Versus Open-Loop Control
		Closed-Loop Feedback Configuration
		Short Selling: Use of Borrowed Shares
		Historical and Model-Generated Prices
		The Feedback Control Law for Trading
		Order-Filling Mechanics
		Gain-Loss Accounting
		Margin Charges and Interest Accumulation
		Leverage Constraints and Margin Calls
		Simulation Example
		Summary and Future Directions
		Cross-References
		Bibliography
	Strategic Form Games and Nash Equilibrium
		Synonyms
		Introduction
		Strategic Form Games
		Nash Equilibrium
			Mixed Strategy Nash Equilibrium
		Existence of Nash Equilibrium
			Finite Strategy Set Games
			Infinite Strategy Set Games
		Uniqueness of Nash Equilibrium
		Efficiency of Nash Equilibria
		Summary and Future Directions
		Cross-References
		Bibliography
	Stream of Variations Analysis
		Introduction
		Stream of Variation Model
		SoV-Enabled Monitoring and Diagnosis
		SoV-Enabled Sensor Allocation and Diagnosability
		SoV-Enabled Design and Optimization
		SoV-Enabled Process Control and Quality Compensation
		SoV-Enabled Product Quality and Reliability Chain Modeling and Analysis
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Structural Properties of Biological and Ecological Systems
		Introduction
		Systems and Structures
		Positivity and Boundedness
		Analysis of the Equilibria
			Stability of the Equilibria
			Perturbation of the Equilibrium
		Structural Feedback Loops
		Aggregation Can Simplify the Structural Analysis of Complex Networks
		Discussion and Future Directions
		Cross-References
		Bibliography
	Structured Singular Value and Applications: Analyzing the Effect of Linear Time-Invariant Uncertainty in Linear Systems
		Notation, Definition, and Properties
		Robustness of Stability and Performance
		Computations
			Lower Bounds
			Upper Bounds
			Further Perspectives
		Appendix: Interpolation Lemmas
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Sub-Riemannian Optimization
		Introduction
		The Distance Function
		More Examples
		A Special Structure
		Nonintegrability and Cyclic Processes
		Cross-References
		Recommended Reading
		Bibliography
	Subspace Techniques in System Identification
		Introduction
		ST in Identification: Problems and Strategy
		Realization Theory: The Progenitor of ST
			The Deterministic Realization Problem
			The Stochastic Realization Problem
		Combined Deterministic-Stochastic ST
			Identification of LTI MIMO Systems in Open Loop
			Towards Understanding the Statistical Properties
			Identification of LTI MIMO Systems in Closed Loop
			Subspace Identification with Prediction Error Criteria
			Beyond LTI Systems
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Supervisory Control of Discrete-Event Systems
		Introduction
		DES from a Control Viewpoint
		Base Model for Control of DES
		Existence of Controls for DES: Controllability
		Supervisory Control Design: Small Factory
		Distributed Control by Supervisor Localization
		Supervisor Architecture and Computation
		Supervisory Control Under Partial Observations
		Summary and Future Directions
		Cross-References
		Bibliography
	Surgical Robotics
		Introduction
		Robotic Autonomy in Surgery
			Levels of Autonomy
			Research on Sensor-Based Shared Autonomy
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Switching Adaptive Control
		Introduction
		Design of Switching Adaptive Control
		Summary and Future Directions
		Cross-References
		Bibliography
	Synthesis Theory in Optimal Control
		Optimal Control
		Sufficient Conditions for Optimality: The Theory of Optimal Synthesis
		Some Relevant Examples
			Time-Optimal Synthesis for Affine Control Systems on 2D Manifolds
			Some Relevant Time-Optimal Synthesis for 3D Problems
			Sub-Riemannian Geometry
		Connections with the Stabilization Problem
		Extracting a Feedback from an Optimal Synthesis
			An Example of a Time-Optimal Synthesis Whose Feedback Generates Non-optimal Trajectories
		Cross-References
		Bibliography
	Synthetic Biology
		Introduction to Synthetic Biology
		Early Synthetic Biology Modules
		From Modules to Systems: Opportunities and Challenges
		Summary and Future Directions
		Cross-References
		Bibliography
	System Identification Software
		Introduction
		Essential Functionality
		Additional Functionality and the Decision-Making Process
		Computing Platforms
		Examples of Available System Identification Software
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	System Identification Techniques: Convexification, Regularization, Relaxation
		Introduction
		System Identification
			Linear Models
		The Role of Regularization in Linear System Identification
			Regularization for Smoothness
			Regularization for Sparsity: Variable Selection and Order Estimation
		Extensions: Regularization for Hybrid Systems Identification and Model Segmentation
		Summary and Future Directions
		Cross-References
		Recommended Reading
		References
	System Identification: An Overview
		An Introductory Example
		Models and System Identification
			The Omnipresent Model
			System Identification: Data-Driven Modeling
		The State-of-the-Art Identification Setup
		M: Model Structures
			Linear Models
				Black-Box Models
				Gray-Box Models
				Continuous-Time Models
			Nonlinear Models
		I: Identification Methods: Criteria
			Time Domain Data
				A Maximum Likelihood View
				The EM Algorithm
				Regularization
				Bayesian View
			Frequency Domain Data
				Linear Parametric Models
				Nonparametric Methods
			IV and Subspace Methods
				Instrumental Variables
				Subspace Methods
			Errors-in-Variables (EIV) Techniques
		Asymptotic Properties of the Estimated Models
			Bias and Variance
			Properties of the PEM Estimate (19) as N→∞
			Trade-Off Between Bias and Variance
		X: Experiment Design
		V: Model Validation
			Falsifying Models: Residual Analysis
			Comparing Different Models
			Cross Validation
		Other Topics
			Connections to Machine Learning
			Numerical Algorithms and Software Support
			Estimating Continuous-Time Models
			Recursive Estimation
			Data Management
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
T
	Tactical Missile Autopilots
		Introduction
		Pitch and Yaw Control
		Roll Control
		Gain Scheduling
		Other Considerations
		Summary and Future Directions
		Cross-References
		Bibliography
	Time-Scale Separation in Power System Swing Dynamics: Singular Perturbations and Coherency
		Interarea Mode Oscillation in a Power System
		Coherency Analysis
		Singular Perturbation Analysis
		Identifying Coherent Areas
		Applications
		Cross-References
		Recommended Reading
		Bibliography
	Tracking and Regulation in Linear Systems
		Introduction
		The Full Information Regulator Problem
		The Francis Equations
		The Error Feedback Regulator Problem
		The Internal Model Principle
		Summary and Future Directions
		Cross-References
		Recommended Reading and References
		Bibliography
	Tracking Model Predictive Control
		Introduction
			Notation
		Problem Statement
		Tracking MPC for a Constant Reference
			Determining the MPC Setpoint
			Model Predictive Controller Design
		Tracking MPC for a Changing Reference
			Feasibility and Stability Issues
			Stabilizing MPC for Tracking
		Offset-Free Tracking
		Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Trajectory Generation for Aerial Multicopters
		Introduction
		Dynamics and Low-Level Control
		Trajectory Generation
			Decoupled Planning and Constraints
			Closed-Form Solutions
			Numerical Solutions
			Computational Speed and Receding Horizon Control
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Transmissions
		Introduction
		Types of Transmissions
		Control Problems for Automotive Transmissions
			Low-Level Control
			Calibration Process
			Gear Shifting
			Driveline Modelling
			Integrated Powertrain Management
			Diagnostics
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Trust Models for Human-Robot Interaction and Control
		Introduction
		Computational Trust Models
			Time-Series Trust Models
			Bayesian-Based Trust Models
			Markov Decision Process (MDP)-Based Trust Models
			Mixed Bayesian and MDP Trust Models
		Summary, Discussion, and Future Research Directions
		Cross-References
		Bibliography
U
	Uncertainty and Robustness in Dynamic Vision
		Background
		Multiframe Tracking
		Event Detection and Activity Classification
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Underactuated Marine Control Systems
		Introduction
		Definition: Underactuated Marine Vessels
		Control of Underactuated Marine Vessels
		Path Following and Maneuvering Control of Underactuated Marine Vessels
		Summary and Future Directions
		Cross-References
		Bibliography
	Underactuated Robots
		Introduction
		Classification of Underactuated Robots
			Pure Kinematic
			Pure Mechanical
			Mixed Kinematic and Mechanical
		Control Challenges
			Determining Controllability
			Feedback Stabilization
			Motion Planning
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Underwater Robots
		Introduction
		Sensor Systems
		Localization
		Actuation
		Guidance and Control
		Intervention
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Unmanned Aerial Vehicle (UAV)
		Introduction
		History of Unmanned Aerial Vehicles
		Unmanned Aerial Vehicle Terminology
			Legal Definitions
			Other Common Usage
		Unmanned Aerial Vehicle Capabilities
			The Implications of Being Unmanned
			Automation and Autonomy
		Summary and Future Directions
		Cross-References
		Bibliography
	Use of Gaussian Processes in System Identification
		Introduction
		Gaussian Processes in System Identification
			Gaussian Process Regression
				Gaussian Process Regression Problem
				Gaussian Process Regression Equations
				Hyperparameter Learning
				Reduction of Computational Complexity
			GP-NFIR, GP-NARX, GP-NOE, and Related Models
				GP-NFIR Model
				GP-NARX Model
				GP-NOE Model
				Other Model Architectures
			Gaussian Process State-Space (GPSS) Models
				General GPSS Model
				Learning with Fully Observed State
				Marginalization of the GP
				Approximation of the GP
			Spatiotemporal Gaussian Process Models
				Temporal Gaussian Processes
				Spatiotemporal Gaussian Processes
				Latent Force Models
		Summary and Future Directions
		Cross-References
		Bibliography
V
	Validation and Verification Techniques and Tools
		Introduction
		Control System Validation
		Control System Verification
		Summary and Future Directions
		Cross-References
		Bibliography
	Vehicle Dynamics Control
		Introduction
		Traction Control
		Control Design
		Sensors and Actuators
		Control System Behavior
			Uniform Friction Surface: (Uniform μ)
			Nonuniform Friction Surface: (Split μ)
		Control Challenges
		Electronic Stability Control
		Control Design
		Sensors and Actuators
		Control System Behavior
		Control Challenges
		Opportunity: Computer Vision as Sensors
		Opportunity: VDC for Automated Driving
		Summary and Future Directions
		Cross-References
		Bibliography
	Vehicular Chains
		Introduction
		Optimal Control of Vehicular Strings
			Optimal Control of Finite Strings
			Optimal Control of Infinite Strings
		Coherence in Large-Scale Formations
			Stochastically Forced Vehicular Formations with Local Feedback
				An Example
			Structural Assumptions
			Performance Measures
			Scaling of Variance per Vehicle with System Size
		Summary and Future Directions
		Cross-References
		Bibliography
	Vibration Control System Design for Buildings
		Introduction
		Active Mass Damper
		Rotational Inertia Mass Damper
		Semi-active Base Isolation
		Full Active Base Isolation
		Energy Harvesting from Vibration Control Device
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Vision-Based Motion Estimation
		Introduction
		Background
		General Approaches to Pose Estimation
			Essential Matrix
				Algorithms
			Direct Estimation
				Algorithms
			Homography
				Algorithms
		Benchmarks
		Software
		Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	2.5D Vision-Based Estimation
		Introduction
		2.5D Vision-Based Estimation
			Motion from Structure
			Structure from Motion
			Structure and Motion
		Future Directions for Research
		Cross-References
		Bibliography
W
	Walking Robots
		Introduction
		Early History
		Characteristics of Walking Robots
		Classification of Walking Robots
		Humanoid Robots
		Dynamic Equations of Walking Robots
		Balance
		Safety
		Summary
		Cross-References
		Recommended Reading
		Bibliography
	Wheeled Robots
		Introduction
		Modeling
		Structural Properties
		Trajectory Planning
		Feedback Control
			Trajectory Tracking
			Point Stabilization
		Summary and Future Directions
		Cross-References
		Recommended Reading
		Bibliography
	Wide-Area Control of Power Systems
		Introduction
		Wide-Area Oscillation Damping Control
		Wide-Area Voltage Control
		New Control Paradigms
			Sparse and Distributed Wide-Area Control
			Online Learning-Based Control
		Open Questions and Future Research
		Further Reading
		Cross-References
		Bibliography