Publications: Conference Articles

K. Peng, M. R. Bin Abdul Hamid, J. Zhu, F. Lin and B. M. Chen,
Comprehensive modeling of quadrotors for maneuvering flight control design,
To be presented at the
23rd International Conference on Methods & Models in Automations & Robotics,
Miedzyzdroje, Poland, August 2018.

S. Lai, M. Lan and B. M. Chen,
Efficient safe corridor navigation with jerk limited trajectory for quadrotors,
To be presented at the
37th Chinese Control Conference,
Wuhan, China, July 2018.

K. Peng, F. Lin, S. K. Phang and B. M. Chen,
Nonlinear flight control design for maneuvering flight of quadrotors in high speed large acceleration,
To be presented at the
2018 International Conference on Unmanned Aircraft Systems,
Dallas, USA, June 2018.

J. Li, B. M. Chen and G. H. Lee,
SONet: Selforganizing network for point cloud analysis,
To be presented at the
2018 Conference on Computer Vision and Pattern Recognition,
Salt Lake City, Utah, USA, June 2018.

Y. Bi, S. Lai and B. M. Chen,
A fast and robust stereo visualinertial odometry for MAVs,
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 265270, June 2018.

M. Lan, Y. Xu, S. Lai and B. M. Chen,
A modular mission management system for micro aerial vehicles,
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 293299, June 2018.

Y. H. Tan, S. Lai, K. Wang and B. M. Chen,
Cooperative heavy lifting using unmanned multiagent systems,
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 11191126, June 2018.

J. Li, Y. Bi, K. Li, K. Wang, F. Lin and B. M. Chen,
Accurate 3D localization for MAV swarms by UWB and IMU fusion
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 100105, June 2018.

X. Zheng, C. Xiang, H. Lu, B. M. Chen and T. H. Lee,
Human vision inspired multiscale line segments merging and filtering,
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 259264, June 2018.

Y. H. Tan, B. H. Liew, X. Liu and B. M. Chen,
Wing design studies for small submersiblelaunched UAVs,
Proceedings of the 14th IEEE International Conference on Control & Automation,
Anchorage, Alaska, USA, pp. 350354, June 2018.

X. Liu, Y. H. Tan and B. M. Chen,
Underwater depth map estimation from video sequence with graph cuts,
To be presented at
2018 OCEANS,
Kobe, Japan, May 2018.

Y. Bi, M. Lan, J. Li, K. Zhang, H. Qin, S. Lai and B. M. Chen,
Robust autonomous flight and mission management for MAVs in GPSdenied environments,
Proceedings of the 2017 Asian Control Conference,
Gold Coast, Australia, pp. 6772, December 2017.

M. Lan, S. Lai and B. M. Chen,
Towards the realtime samplingbased kinodynamic planning for quadcopters,
Proceedings of the 2017 Asian Control Conference,
Gold Coast, Australia, pp. 772777, December 2017.

Y. H. Tan, X. Liu and B. M. Chen,
Hardware adaptation of a small commercial ROV for autonomous use,
Proceedings of the 2017 Asian Control Conference,
Gold Coast, Australia, pp. 12521257, December 2017.

Y. H. Tan, X. Liu and B. M. Chen,
A methodology for enabling autonomy in smallscale underwater vehicles,
Presented at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017),
Vancouver, Canada, September 2017.

Y. Bi, M. Lan, J. Li and B. M. Chen,
Realtime visionbased autonomous 3D navigation for MAVs in GPSdenied environments,
Presented at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017),
Vancouver, Canada, September 2017.

J. Li, H. Zhan, B. M. Chen, I. Reid and G. H. Lee,
Deep learning for 2D scan matching and loop closure,
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017),
Vancouver, Canada, pp. 763768, September 2017.

S. Lai, K. Wang and B. M. Chen,
Dynamically feasible trajectory generation method for quadrotor unmanned vehicles with state constraints,
Proceedings of the 36th Chinese Control Conference,
Dalian, China, pp. 62526257, July 2017.

Y. Ke and B. M. Chen,
Full envelope dynamics modeling and simulation for tailsitter hybrid UAVs,
Proceedings of the 36th Chinese Control Conference,
Dalian, China, pp. 22422247, July 2017.

Y. Ke, K. Wang, K. Gong, S. Lai and B. M. Chen,
Model based robust forward transition control for tailsitter hybrid unmanned aerial vehicles,
Proceedings of the 13th IEEE International Conference on Control and Automation,
Ohrid, Macedonia, pp. 828833, July 2017.

K. Wang, S. Lai, Y. Ke, K. Gong, Y. Tan and B. M. Chen,
Modelbased optimal autotransition and control synthesis for tailsitter UAV KHLion
Proceedings of the 13th IEEE International Conference on Control and Automation,
Ohrid, Macedonia, pp. 541547, July 2017.

X. Liu, Y. H. Tan, B. Di and B. M. Chen,
Hydrodynamic modelling for a smallscale underwater vehicle,
Proceedings of the 13th IEEE International Conference on Control and Automation,
Ohrid, Macedonia, pp. 373378, July 2017.

K. Peng, F. Lin and B. M. Chen,
Modeling and control analysis of a flappingwing micro aerial vehicle,
Proceedings of the 13th IEEE International Conference on Control and Automation,
Ohrid, Macedonia, pp. 295300, July 2017.

K. Wang, S. K. Phang, Y. Ke, X. Chen, K. Gong and B. M. Chen,
Visionaided tracking of a moving ground vehicle with a hybrid UAV
Proceedings of the 13th IEEE International Conference on Control and Automation,
Ohrid, Macedonia, pp. 2833, July 2017.

X. Chen, S. K. Phang and B. M. Chen,
System integration of a visionguided UAV for autonomous tracking on moving platform in low illumination condition,
Proceedings of the ION Pacific PNT 2017 Conference,
Honolulu, Hawaii, USA, pp. 10821092, May 2017.

M. Lan, S. Lai, Y. Bi, H. Qin, J. Li, F. Lin and B. M. Chen,
BIT*based path planning for micro aerial vehicles,
Proceedings of the 42nd Annual Industrial Electronics Conference (IECON2016),
Florence, Italy, October 2016.

M. Shan, Y. Bi, H. Qin, J. Li, Z. Gao, F. Lin and B. M. Chen,
A brief survey of visual odometry for micro aerial vehicles,
Proceedings of the 42nd Annual Industrial Electronics Conference (IECON2016),
Florence, Italy, October 2016.

J. Li, M. Shan, M. Lan, Y. Bi, H. Qin, F. Lin, B. M. Chen,
Semidense motion segmentation for moving cameras by discrete energy minimization,
Proceedings of the 42nd Annual Industrial Electronics Conference (IECON2016),
Florence, Italy, October 2016.

Z. Yang, F. Lin, B. M. Chen,
Survey of autopilot for multirotor unmanned aerial vehicles,
Proceedings of the 42nd Annual Industrial Electronics Conference (IECON2016),
Florence, Italy, October 2016.

L. Wu, Y. Ke and B. M. Chen,
Systematic modeling of rotor dynamics for small unmanned aerial vehicles,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 284290, October 2016.

J. Li, Y. Bi, M. Lan, H. Qin, M. Shan, F. Lin and B. M. Chen,
Realtime simultaneous localization and mapping for UAV: A survey,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 237242, October 2016.

K. Li, A. Chen, K. Zhang and B. M. Chen,
Improved efficiency electronic speed controller development for 3phase brushless dc motor in unmanned aerial systems,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 167172, October 2016.

Y. Bi, J. Li, H. Qin, M. Lan, M. Shan, F. Lin and B. M. Chen,
An MAV localization and mapping system based on dual realsense cameras,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 5055, October 2016.

Y. Ke, K. Wang and B. M. Chen,
A preliminary modeling and control framework for a hybrid UAV Jlion,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 2834, October 2016.

H. Qin, M. Shan, F. Lin, Y. Bi, J. Li, M. Lan, Y. Zhang and B. M. Chen,
A 3D rotating laser based navigation solution for micro aerial vehicles in dynamic environments,
Proceedings of the 2016 International Micro Air Vechicle Competition and Conference,
Beijing, China, pp. 49, October 2016.

S. Lai, K. Wang, K. Li and B. M. Chen,
Path planning of rotorcrafts in unknown environment,
Proceedings of the 35th Chinese Control Conference,
Chengdu, China, pp. 1090010905, July 2016.

K. Wang, Y. Ke and B. M. Chen,
Development of autonomous hybrid UAV ULion with VTOL and cruise flying capabilities,
Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics,
Banff, Canada, pp. 10531060, July 2016.

K. Li, K. Wang, K. Zhang and B. M. Chen,
Aggressive maneuvers of a quadrotor MAV based on composite nonlinear feedback control,
Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics,
Banff, Canada, pp. 513518, July 2016.

K. Wang, Y. Ke, M. Shan, X. Li, F. Wang and B. M. Chen,
Development of autonomous quadrotor system for vertical replenishment,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 3743, June 2016.

Y. Ke, H. Yu, C. Chi, M. Yue and B. M. Chen,
A systematic design approach for an unconventional UAV JLion with extensible morphing wings,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 4449, June 2016.

Y. Bi, H. Qin, M. Shan, J. Li, W. Liu, M. Lan and Ben M. Chen,
An autonomous quadrotor for indoor exploration with laser scanner and depth camera,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 5055, June 2016.

Y. Yang, S. Zhai, B. Ramesh, X. Zheng, C. Xiang, B. M. Chen and T. H. Lee,
Longterm cooperative tracking using multiple unmanned aerial vehicles,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 5661, June 2016.

H. Qin, J. Q. Cui, J. Li, Y. Bi, M. Lan, M. Shan, W. Liu, K. Wang, F. Lin, Y. F. Zhang and B. M. Chen,
Design and implementation of an unmanned aerial vehicle for autonomous firefighting missions,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 6267, June 2016.

K. Li, K. Zhang and B. M. Chen,
Onboard visual odometry and autonomous control of a quadrotor micro aerial vehicle,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 6873, June 2016.

X. Chen, S. K. Phang, M. Shan and B. M. Chen,
System integration of a visionguided UAV for autonomous landing on moving platform,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 761766, June 2016.

T. Pang, K. Peng, F. Lin and B. M. Chen,
Towards longendurance flight: Design and implementation of a variablepitch gasolineengine quadrotor,
Proceedings of the 12th IEEE International Conference on Control & Automation,
Kathmandu, Nepal, pp. 767772, June 2016.

M. Shan, F. Wang, F. Lin, Z. Gao, Y. Z. Tang and B. M. Chen,
Google map aided visual navigation for UAVs in GPSdenied environment,
Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics,
Zhuhai, China, pp. 114119, December 2015.

M. Zhang, H. Qin, M. Lan, J. Lin, S. Wang, K. Liu, F. Lin and B. M. Chen,
A high fidelity simulator for a quadrotor UAV using ROS and Gazebo,
Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society,
Yokohama, Japan, pp. 28462851, November 2015.

J. Li, F. Lin and B. M. Chen,
A statistical approach for trajectory analysis and motion segmentation for freely moving cameras,
Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society,
Yokohama, Japan, pp. 15921597, November 2015.

Y. Yang, M. Karimadini, C. Xiang, S. H. Teo, B. M. Chen and T. H. Lee,
Wide area survillance of urban environments using multiple miniVTOL UAVs,
Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society,
Yokohama, Japan, pp. 795800, November 2015.

S. K. Phang, F. Wang, K. Wang, S. Lai and B. M. Chen,
An effective method for autonomous localization and navigation in unknown indoor environment using MAV,
Proceedings of the 2015 International Micro Air Vehicles Conference,
Session 7A, Aachen, Germany, September 2015.

K. Z. Y. Ang, X. Dong, F. Lin, J. Lin and B. M. Chen,
Autonomous onboard map stitching in IMAV 2014,
Proceedings of the 2015 International Micro Air Vehicles Conference,
Session 4A, Aachen, Germany, September 2015.

K. Wang, S. Lai, J. Cui, Y. Ke and B. M. Chen,
Navigation of micro air vehicles with inconsistent GPS guidance and online path planning,
Proceedings of the 2015 International Micro Air Vehicles Conference,
Session 2A, Aachen, Germany, September 2015.

S. Huang, F. Lin and B. M. Chen,
Modelbased fault detection, isolation and faulttolerant control for a class of nonlinear uncertain
systems using information estimation,
Proceedings of the 34th Chinese Control Conference,
Hangzhou, China, pp. 61646169, July 2015.

J. Q. Cui, S. K. Phang, K. Z. Y. Ang, F. Wang, X. Dong, Y. Ke, S. Lai, K. Li, X. Li, F. Lin, J. Lin, P. Liu,
T. Pang, B. Wang, K. Wang, Z. Yang and B. M. Chen,
Drones for cooperative search and rescue in postdisaster situation,
Proceedings of 7th IEEE International Conference on Robotics, Automation and Mechatronics,
Angkor Wat, Cambodia, pp. 167174, July 2015.

L. Bai, X. Zheng and B. M. Chen,
Identification of China stock market forces under system adaptation framework,
Presented at the
21st International Conference on Computing in Economics and Finance,
Taipei, Taiwan, June 2015.

R. Huang, P. Tan and B. M. Chen,
Monocular visionbased autonomous navigation system on a toy quadcopter in unknown environments,
Proceedings of the 2015 International Conference on Unmanned Aircraft Systems,
Denver, USA, pp. 12601269, June 2015.

K. Li, P. Liu, T. Pang, Z. Yang and B. M. Chen,
Development of an unmanned aerial vehicle for rooftop landing and surveillance,
Proceedings of the 2015 International Conference on Unmanned Aircraft Systems,
Denver, USA, pp. 832838, June 2015.

S. Lai, B. M. Chen and J. Cui,
Relax formation in cluttered environments using rotorcraft UAV,
Proceedings of the 10th Asian Control Conference,
Kota Kinabalu, Malaysia, pp. 25452550, June 2015.

S. K. Phang, J. Q. Cui, Z. Y. K. Ang, F. Wang, X. Dong, Y. Ke, S. Lai, K. Li, X. Li, F. Lin, J. Lin, P. Liu,
T. Pang, B. Wang, K. Wang, Z. Yang and B. M. Chen,
Urban postdisaster search and rescue solutions with unmanned aircraft systems,
Proceedings of the 14th International Conference on Electronics, Information, and Communication,
Singapore, pp. 9192, January 2015.

M. Zhang, F. Lin and B. M. Chen,
Visionbased detection and pose estimation for formation of micro aerial vehicles,
Proceedings of the 13th International Conference on Control, Automation, Robotics and Vision,
Singapore, pp. 14731478, December 2014.

P. Liu, X. Dong and B. M. Chen,
Development of a comprehensive software system for cargo transportation by unmanned helicopters,
Proceedings of the 2014 International Conference on Intelligent Unmanned Systems,
Montreal, Canada, Paper 151, SeptemberOctober 2014.

K. Li, R. Huang, S. K. Phang, S. Lai, F. Wang, P. Tan, B. M. Chen and T. H. Lee,
Visionbased autonomous control of an ultralight quadrotor MAV,
Proceedings of the 2014 International Micro Air Vehicle Conference and Competition,
Delft, the Netherlands, pp. 5057, August 2014.

F. Wang, P. Liu, S. Zhao, B. M. Chen, S. K. Phang, S. Lai, T. H. Lee and C. X. Cai,
Guidance, navigation and control of an unmanned helicopter for automatic cargo transportation,
Proceedings of the 33rd Chinese Control Conference,
Nanjing, China, pp. 10131020, July 2014 (won the Guan ZhaoZhi Award).

S. Zhao, Z. Hu, M. Yin, K. Z. Y. Ang, P. Liu, F. Wang, X. Dong, F. Lin, B. M. Chen and T. H. Lee,
A robust vision system for a UAV transporting cargoes between moving platforms,
Proceedings of the 33rd Chinese Control Conference,
Nanjing, China, pp. 544549, July 2014.

L. Bai, S. Yen, X. Zheng and B. M. Chen,
Market turning points forecasting using wavelet analysis,
Proceedings of the 2014 International Conference of Financial Engineering,
London, U.K., pp. 940945, July 2014.

F. Lin, K. Peng, X. Dong, S. Zhao and B. M. Chen,
Visionbased formation for UAVs,
Proceedings of the 11th IEEE International Conference on Control & Automation,
Taichung, Taiwan, pp. 13751380, June 2014.

K. Peng, T. Pang, F. Lin and B. M. Chen,
Autonomous mission execution for multiple unmanned aerial vehicles with hierarchicaldistributed
methodology,
Proceedings of the 11th IEEE International Conference on Control & Automation,
Taichung, Taiwan, pp. 13691374, June 2014.

F. Wang, K. Wang, S. Lai, S. K. Phang, B. M. Chen and T. H. Lee,
An efficient UAV navigation solution for confined but partially known indoor environments,
Proceedings of the 11th IEEE International Conference on Control & Automation,
Taichung, Taiwan, pp. 13511356, June 2014.

K. Ang, J. Cui, T. Pang, K. Li, K. Wang and B. M. Chen,
Development of an unmanned tailsitter with reconfigurable wings: ULion,
Proceedings of the 11th IEEE International Conference on Control & Automation,
Taichung, Taiwan, pp. 750755, June 2014.

S. K. Phang, S. Lai, F. Wang, M. Lan and B. M. Chen,
UAV calligraphy,
Proceedings of the 11th IEEE International Conference on Control & Automation,
Taichung, Taiwan, pp. 422428, June 2014.

S. K. Phang, K. Li, F. Wang, B. M. Chen and T. H. Lee,
Explicit model identification and control of a micro aerial vehicle,
Proceedings of the 2014 International Conference on Unmanned Aircraft Systems,
Orlando, USA, pp. 10481054, May 2014.

J. Cui, S. Lai, B. M. Chen and T. H. Lee,
Autonomous navigation of UAV in forest,
Proceedings of the 2014 International Conference on Unmanned Aircraft Systems,
Orlando, USA, pp. 726733, May 2014.

K. Peng, S. Zhao, F. Lin and B. M. Chen,
Vision based target tracking/following and estimation of target motion,
Proceedings of the 2013 AIAA Guidance, Navigation and Control Conference,
Boston, USA, AIAA 20135036, August 2013.

S. Zhao, X. Dong, J. Q. Cui, K. Z. Y. Ang, F. Lin, K. M. Peng, B. M. Chen and T. H. Lee,
Design and implementation of homographybased visionaided inertial navigation of UAVs,
Proceedings of the 32nd Chinese Control Conference,
Xi'an, China, pp. 51015106, July 2013.

J. Q. Cui, F. Wang, X. Dong, K. Z. Y. Ang, B. M. Chen and T. H. Lee,
Landmark extraction and state estimation for UAV operation in forest,
Proceedings of the 32nd Chinese Control Conference,
Xi'an, China, pp. 52105215, July 2013.

F. Lin, K. Z. Y. Ang, F. Wang, B. M. Chen, T. H. Lee, et al.,
Development of an unconventional unmanned coaxial rotorcraft: GremLion,
Presented at the
15th International Conference on HumanComputer Interaction,
Las Vegas, USA, July 2013.

S. Zhao, F. Lin, K. M. Peng, B. M. Chen and T. H. Lee,
Distributed control of angleconstrained circular formation using bearingonly measurements,
Proceedings of the 9th Asian Control Conference,
Istanbul, Turkey, pp. 16, June 2013.

A. Karimoddini, H. Lin, B. M. Chen and T. H. Lee,
A bumpless hybrid supervisory control algorithm for the formation of unmanned helicopters,
Proceedings of the 2013 American Control Conference,
Washington, DC, USA, pp. 982987, June 2013.

B. X. Hon, H. Tian, F. Wang, B. M. Chen and T. H. Lee,
A customized FastSLAM algorithm using scanning laser range finder in structured indoor environments,
Proceedings of the 10th IEEE International Conference on Control and Automation,
Hangzhou, China, pp. 640645, June 2013.

S. Zhao, F. Lin, K. Peng, B. M. Chen and T. H. Lee,
Finitetime stabilization of circular formations using bearingonly measurements,
Proceedings of the 10th IEEE International Conference on Control and Automation,
Hangzhou, China, pp. 840845, June 2013.

F. Wang, J. Q. Cui, S. K. Phang, B. M. Chen and T. H. Lee,
A monocamera and scanning laser range finder based UAV indoor navigation system,
Proceedings of the 2013 International Conference on Unmanned Aircraft Systems,
Atlanta, USA, pp. 693700, May 2013.

K. Li, S. K. Phang, B. M. Chen and T. H. Lee,
Platform design and mathematical modeling of an ultralight quadrotor micro aerial vehicle,
Proceedings of the 2013 International Conference on Unmanned Aircraft Systems,
Atlanta, USA, pp. 10661075, May 2013.

D. Luo and B. M. Chen,
The autopilot design of banktoturn missile using mixed sensitivity H∞ optimization,
Proceedings of the 3rd Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems,
Nanjing, China, pp. 241246, May 2013.

P. Liu, X. Dong, B. M. Chen and T. H. Lee,
Development of an enhanced ground control system for unmanned aerial vehicles,
Proceedings of the IASTED International Conference on Engineering and Applied Science,
Colombo, Sri Lanka, pp. 136143, December 2012.

K. Peng and B. M. Chen,
Variantfactor technique for tracking control of a class of nonlinear systems with input saturation,
Proceedings of the IASTED International Conference on Engineering and Applied Science,
Colombo, Sri Lanka, pp. 129135, December 2012.

X. Li, H. Lin, J. Lian and B. M. Chen,
Stability analysis for uncertain linear systems with random parameters,
Proceedings of the
51st IEEE Conference on Decision and Control,
Maui, Hawaii, USA, pp. 40414046, December 2012.

N. Xu, G. Cai, W. Kang and B. M. Chen,
Minimumtime trajectory planning for helicopter UAVs using computational dynamic
optimization,
Proceedings of the
2012 IEEE International Conference on Systems, Man, and Cybernetics,
Seoul, Korea, pp. 27322737, October 2012.

S. Zhao, F. Lin, K. Peng, B. M. Chen and T. H. Lee,
Homographybased visionaided inertial navigation of UAVs in unknown environments,
Proceedings of the
2012 AIAA Guidance, Navigation, and Control Conference,
Minneapolis, USA, AIAA 20125033, August 2012.

A. Partovi, Z. Y. K. Ang, B. M. Chen, H. Lin and G. Cai,
Development of a cross style quadrotor,
Proceedings of the
2012 AIAA Guidance, Navigation, and Control Conference,
Minneapolis, USA, AIAA 20124780, August 2012.

K. Peng, S. Zhao, F. Lin and B. M. Chen,
Vision based stabilization for aircraft in unknown environment without GPS signal,
Proceedings of the
2012 AIAA Guidance, Navigation, and Control Conference,
Minneapolis, USA, AIAA 20124597, August 2012.

J. Cui, F. Wang, Z. Qian, B. M. Chen and T. H. Lee,
Construction and modeling of a variable collective pitch coaxial UAV,
Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics,
Rome, Italy, pp. 286291, July 2012.

D. Luo, F. Wang, B. Wang and B. M. Chen,
Implementation of obstacle avoidance technique for indoor coaxial rotorcraft with scanning laser range finder,
Proceedings of the 31st Chinese Control Conference,
Hefei, China, pp. 51355140, July 2012.

Y. Sun, H. Lin and B. M. Chen,
Decentralized bisimilarity control of discrete event systems,
Proceedings of the 31st Chinese Control Conference,
Hefei, China, pp. 21342139, July 2012.

B. Wang and B. M. Chen,
Structural analysis of a helicopter dynamic model using the special coordinate basis decomposition,
Proceedings of the 31st Chinese Control Conference,
Hefei, China, pp. 279284, July 2012.

S. K. Phang, C. Cai, B. M. Chen and T. H. Lee,
Design and mathematical modeling of a 4standardpropeller (4SP) quadrotor,
Proceedings of the 10th World Congress on Intelligent Control and Automation,
Beijing, China, pp. 32703275, July 2012.

B. Wang, F. Wang, B. M. Chen and T. H. Lee,
Robust flight control design for an indoor miniature coaxial helicopter,
Proceedings of the 10th World Congress on Intelligent Control and Automation,
Beijing, China, pp. 29182924, July 2012.

S. Zhao, B. M. Chen and T. H. Lee,
Optimal placement of bearingonly sensors for target localization,
Proceedings of the 2012 American Control Conference,
Montreal, Canada, pp. 51085113, June 2012.

F. Wang, S. K. Phang, J. Cui, G. Cai, B. M. Chen and T. H. Lee,
Nonlinear modeling of a miniature fixedpitch coaxial UAV,
Proceedings of the 2012 American Control Conference,
Montreal, Canada, pp. 38633870, June 2012.

B. Wang, X. Dong, B. M. Chen, T. H. Lee and S. K. Phang,
Formation flight of unmanned rotorcraft based on robust and perfect tracking approach,
Proceedings of the 2012 American Control Conference,
Montreal, Canada, pp. 32843290, June 2012.

X. Zheng and B. M. Chen,
Identification of stock market forces in the system adaptation framework,
Proceedings of the 9th IEEE International Conference on Control and Automation,
Santiago, Chile, pp. 340347, December 2011.

K. Tang, B. Wang, W. Kang and B. M. Chen,
Minimum time control of helicopter UAVs using computational dynamic optimization,
Proceedings of the 9th IEEE International Conference on Control and Automation,
Santiago, Chile, pp. 848852, December 2011.

S. Zhao, F. Lin, K. Peng, K. Y. Lum, B. M. Chen and T. H. Lee,
Visionaided inertial navigation for unmanned aerial vehicles in unknown
environments,
Proceedings of the 2011 Chinese Automation Congress,
Beijing, China, November 2011.

A. Karimoddini, X. Dong, G. Cai, F. Lin, H. Lin, B. M. Chen and T. H. Lee,
A composed hybrid structure for the autonomous flight control of unmanned helicopters,
Proceedings of the 18th IFAC World Congress,
Milan, Italy, pp. 26322637, AugustSeptember 2011.

K. Peng, B. M. Chen and K. Y. Lum,
Autonomous flight control design for a smallscale unmanned helicopter,
Proceedings of the 2011 AIAA Guidance, Navigation and Control Conference,
Portland, Oregon, USA, AIAA 20116484, August 2011.

X. Dong, M. Dong, B. Wang, B. M. Chen and T. H. Lee,
A comprehensive software system architecture for unmanned aerial vehicles,
Proceedings of the 2011 IEEE International Conference on Service Operations,
Logistics, and Informatics,
Beijing, China, pp. 595600, July 2011.

G. Cai, B. Wang, B. M. Chen and T. H. Lee,
Design and implementation of an unmanned rotorcraft flight control system
using RPT control approach,
Proceedings of the 30th Chinese Control Conference,
Yantai, China, pp. 64926497, July 2011.

F. Wang, S. K. Phang, J. Cui, B. M. Chen and T. H. Lee,
Search and rescue: a UAV aiding approach,
Proceedings of the 23rd Canadian Congress on Applied Mechanics,
Vancouver, Canada, pp. 183186, June 2011.

B. Wang, B. M. Chen and T. H. Lee,
An RPT approach to timecritical path following of an unmanned helicopter,
Proceedings of the 8th Asian Control Conference,
Kaohsiung, Taiwan, pp. 211216, May 2011.

X. Liu, H. Lin and B. M. Chen,
Graphic interpretations of structural controllability for switched linear systems,
Proceedings of the 11th International Conference on Control, Automation, Robotics and Vision,
Singapore, pp. 549554, December 2010.

G. Cai, F. Lin, B. M. Chen and T. H. Lee,
Development of fully functional miniature unmanned rotorcraft systems,
Proceedings of the 29 Chinese Control Conference,
Beijing, China, pp. 3240, July 2010.

S. K. Phang, J. J. Ong, R. T. C. Yeo, B. M. Chen and T. H. Lee,
Autonomous miniUAV for indoor flight with embedded onboard vision processing
as navigation system,
Proceedings of the IEEE R8 International Conference on Computational Technologies
in Electrical and Electronics Engineering,
Listvyanka, Irkutsk, Russia, pp. 722727, July 2010.

F. Lin, B. M. Chen, K.Y. Lum and T. H. Lee,
A robust vision system on an unmanned helicopter for ground target seeking and
following,
Proceedings of the 8th World Congress on Intelligent Control and Automation,
Jinan, China, pp. 276281, July 2010.

F. Lin, B. M. Chen and T. H. Lee,
Vision aided motion estimation for unmanned helicopters in GPS denied
environments,
Proceedings of the 2010 IEEE International Conference on Cybernetics & Intelligent
Systems,
Singapore, pp. 6469, June 2010.

B. Wang, X. Dong and B. M. Chen,
Cascaded control of 3D path following for an unmanned helicopter,
Proceedings of the 2010 IEEE International Conference on Cybernetics & Intelligent
Systems,
Singapore, pp. 7075, June 2010.

Y. Sun, H. Lin, F. Liu and B. M. Chen,
Computation for supremal simulationbased controllable subautomata,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 14501455, June 2010.

X. Dong, G. Cai, F. Lin, B. M. Chen, H. Lin and T. H. Lee,
Implementation of formation flight of multiple unmanned aerial vehicles,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 904909, June 2010.

K. Peng, K.Y. Lum and B. M. Chen,
Flight control design with hierarchical dynamic inversion,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 297302, June 2010.

F. Wang, T. Wang, B. M. Chen and T. H. Lee,
An indoor unmanned coaxial rotorcraft system with vision positioning,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 291296, June 2010.

G. Cai, K.Y. Lum, B. M. Chen and T. H. Lee,
A brief overview on miniature fixedwing unmanned aerial vehicles,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 285290, June 2010.

X. Zheng and B. M. Chen,
Identification of market forces in the financial system adaptation framework,
Proceedings of the 8th IEEE International Conference on Control and Automation,
Xiamen, China, pp. 103108, June 2010.

W. Lan, C. K. Thum and B. M. Chen,
Optimal nonlinear gain tuning of composite nonlinear feedback controller
and its application to a hard disk drive servo system,
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with
28th Chinese Control Conference,
Shanghai, China, pp. 31693174, December 2009.

X. Liu, H. Lin and B. M. Chen,
A graphtheoretic characterization of structural controllability for
multiagent system with switching topology,
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with
28th Chinese Control Conference,
Shanghai, China, pp. 70127017, December 2009.

A. Karimoddini, H. Lin, B. M. Chen and T. H. Lee,
Developments in hybrid modeling and control of unmanned aerial vehicles,
Proceedings of the 7th IEEE International Conference on Control and Automation,
Christchurch, New Zealand, pp. 228233, December 2009.

X. Zheng and B. M. Chen,
Modeling and analysis of financial markets using system adaptation and frequency
domain approach,
Proceedings of the 7th IEEE International Conference on Control and Automation,
Christchurch, New Zealand, pp. 10681073, December 2009.

X. Dong, B. M. Chen, G. Cai, H. Lin and T. H. Lee,
Development of a comprehensive software system for implementing cooperative
control of multiple unmanned aerial vehicles,
Proceedings of the 7th IEEE International Conference on Control and Automation,
Christchurch, New Zealand, pp. 16291634, December 2009.

G. Cai, B. M. Chen and T. H. Lee,
Design and implementation of robust automatic flight control system for a
smallscale UAV helicopter,
Proceedings of the 7th Asian Control Conference,
Hong Kong, China, pp. 691697, August 2009.

F. Lin, B. M. Chen and T. H. Lee,
Robust visionbased target tracking control system for an unmanned helicopter
using feature fusion,
Proceedings of the 11th IAPR Conference on Machine Vision Applications,
Yokohama, Japan, pp. 398401, May 2009.

G. Cai, A. K. Cai, B. M. Chen and T. H. Lee,
Construction, modeling and control of a mini autonomous UAV helicopter,
Proceedings of the 2008 IEEE International Conference on Automation and Logistics,
Qingdao, China, pp. 449454, September 2008.

B. Yun, B. M. Chen, K. Y. Lum and T. H. Lee,
A leaderfollower formation flight control scheme for UAV helicopters,
Proceedings of the 2008 IEEE International Conference on Automation and Logistics,
Qingdao, China, pp. 3944, September 2008.

G. Cai, B. M. Chen, T. H. Lee and M. Dong,
Design and implementation of a hardwareintheloop simulation system for
smallscale UAV helicopters,
Proceedings of the 2008 IEEE International Conference on Automation and Logistics,
Qingdao, China, pp. 2934, September 2008.

G. Cai, B. M. Chen, T. H. Lee and K. Y. Lum,
Comprehensive nonlinear modeling of an unmannedaerialvehicle helicopter,
Proceedings of the 2008 AIAA Guidance, Navigation and Control Conference,
Honolulu, Hawaii, USA, AIAA20087414, August 2008.

C. K. Thum, C. Du, B. M. Chen, E. H. Ong and K. P. Tan,
Timevarying compensation for midfrequency repeatable runout in hard disk
drives via a linear feedback scheme,
Proceedings of the 17th IFAC World Congress,
Seoul, Korea, pp. 31043109, July 2008.

W. Lan, B. M. Chen and F. L. Lewis,
Explicit construction of H∞ control law for a class
of nonminimum phase nonlinear multivariable systems,
Proceedings of the 7th World Congress on Intelligent Control and Automation,
Chongqing, China, pp. 341346, June 2008.

J. Gadewadikar, F. L. Lewis, K. Subbarao and B. M. Chen,
Design of H∞ command and control loops for unmanned aerial vehicles using static output feedback,
Proceedings of the 46th IEEE Conference on Decision and Control,
New Orleans, Louisiana, USA, pp. 53955400, December 2007.

G. Cai, B. M. Chen, K. Peng, M. Dong and T. H. Lee,
Design and implementation of a nonlinear flight control law for the yaw channel of a UAV helicopter,
Proceedings of the 46th IEEE Conference on Decision and Control,
New Orleans, Louisiana, USA, pp. 19631968, December 2007.

W. Lan and B. M. Chen,
On selection of nonlinear gain in composite nonlinear feedback control for a class of linear systems,
Proceedings of the 46th IEEE Conference on Decision and Control,
New Orleans, Louisiana, USA, pp. 11981203, December 2007.

C. K. Thum, C. Du, B. M. Chen, E. H. Ong, K. P. Tan,
A linear timevarying control scheme and its application to a hard disk drive
servo system,
Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics
Society,
Taipei, Taiwan, pp. 892897, November 2007.

F. Lin, B. M. Chen and K. Y Lum,
Integration and implementation of a lowcost and vision UAV tracking system,
Proceedings of the 26th Chinese Control Conference,
Zhangjiajie, Hunan, China, Volume 6, pp. 731736, July 2007.

K. Peng, M. Dong, B. M. Chen, G. Cai, K. Y. Lum and T. H. Lee,
Design and implementation of a fully autonomous flight control system for
a UAV helicopter,
Proceedings of the 26th Chinese Control Conference,
Zhangjiajie, Hunan, China, Volume 6, pp. 662667, July 2007.

W. Lan and B. M. Chen,
Explicit construction of H∞
control law for a class of nonminimum phase nonlinear systems,
Proceedings of the 2007 American Control Conference,
New York, New York, USA, pp. 47034708, July 2007.

C. K. Pang, W. E. Wong, G. Guo, B. M. Chen and T. H. Lee,
NRRO rejection using online iterative control for high density data storage
on a PCbased spinstand servo system,
Proceedings of the 2007 American Control Conference,
New York, New York, USA, pp. 15141519, July 2007.

C. K. Pang, S. C. Tam, G. Guo, B. M. Chen, F. L. Lewis, T. H. Lee and C. Du,
Improved disturbance rejection with online adaptive polezero compensation
on a Φshaped PZT active suspension,
Proceedings of the 2007 ASME Information Storage and Processing Systems Conference,
Santa Clara, California, USA, SCSTA1, pp. 5961, June 2007.

W. Lan, B. M. Chen and F. L. Lewis,
Explicit construction of global stabilization control law for a class of
nonminimum phase nonlinear multivariable systems,
Proceedings of the 2007 IEEE International Conference on Control and Automation,
Guangzhou, China, pp. 17351740, MayJune 2007.

B. Yun, K. Peng and B. M. Chen,
Enhancement of GPS signals for automatic control of a UAV helicopter system,
Proceedings of the 2007 IEEE International Conference on Control and Automation,
Guangzhou, China, pp. 11851189, MayJune 2007.

J. Gadewadikar, F. Lewis, K. Subbarao and B. M. Chen,
Attitude control system design for unmanned aerial vehicles using Hinfinity
and loop shaping methods,
Proceedings of the 2007 IEEE International Conference on Control and Automation,
Guangzhou, China, pp. 11741179, MayJune 2007.

C. K. Pang, F. L. Lewis, S. S. Ge, G. Guo, B. M. Chen and T. H. Lee,
Singular perturbation control for vibration rejection in HDDs with a PZT
active suspension,
Proceedings of the 45th IEEE Conference on Decision and Control,
San Diego, California, USA, pp. 65996604, December 2006.

G. Cheng, K. Peng, B. M. Chen and T. H. Lee,
Discretetime robust nonlinear feedback control for an HDD servo system design,
Proceedings of the 9th International Conference on Control, Automation, Robotics and Vision,
Singapore, pp. 972977, December 2006.

W. Lan and B. M. Chen,
Explicit constructions of globle stabilization control laws for a class of
nonminimum phase nonlinear systems,
Proceedings of the 9th International Conference on Control, Automation, Robotics and Vision,
Singapore, pp. 469474, December 2006.

K. Peng, G. Cai, B. M. Chen, M. Dong and T. H. Lee,
Comprehensive modeling and control of the yaw dynamics of a UAV helicopter,
Proceedings of the 25th Chinese Control Conference,
Harbin, China, pp. 20872092, August 2006.

M. Dong, B. M. Chen and C. Cheng,
Development of 3D monitoring for an unmanned aerial vehicle,
Proceedings of the 1st International Conference on Computer Science and Education,
Xiamen, China, pp. 135140, July 2006.

X. Liu, Z. Lin and B. M. Chen,
Complete assignment of structural properties of linear systems via sensor
or actuator selection,
Proceedings of the 2006 American Control Conference,
Minneapolis, Minnesota, USA, pp. 37193724, June 2006.

G. Cheng, K. Peng, B. M. Chen and T. H. Lee,
Generalized composite nonlinear feedback control technique to track nonstep
references,
Proceedings of the 6th World Congress on Intelligent Control and Automation,
Dalian, China, pp. 234238, June 2006.

G. Cai, B. M. Chen, K. Peng, M. Dong and T. H. Lee,
Modeling and control system design for a UAV helicopter,
Proceedings of the 14th Mediterranean Conference on Control and Automation,
Ancona, Italy, pp. 210215, June 2006.

C. K. Pang, G. Guo, B. M. Chen and T. H. Lee,
Enhanced disturbance suppression in sampleddata systems and its application
to high density data storage servos,
Proceedings of the 2006 ASME/JSME Joint Conference on Micromechatronics for Information
and Precision Equipment,
Santa Clara, California, USA, S3404, June 2006.

Y. He, B. M. Chen and W. Lan,
Improving transient performance in tracking control for a class of nonlinear
discretetime systems with input saturation,
Proceedings of the 44th IEEE Conference on Decision and Control,
Seville, Spain, pp. 80948099, December 2005.

X. Liu, Z. Lin and B. M. Chen,
Further results on structural assignment of linear systems,
Proceedings of the 44th IEEE Conference on Decision and Control,
Seville, Spain, pp. 65166521, December 2005.

Y. Lu, C. K. Pang, J. Chen, H. Zhu, J. P. Yang, J. Q. Mou, G. X. Guo, B. M. Chen
and T. H. Lee,
Design, fabrication and control of a micro XY stage with large ultrathin film
recording media platform,
Proceedings of the 2005 IEEE/ASME International Conference on Advanced
Intelligent Mechatronics,
Monterey, California, USA, pp. 1924, July 2005.

X. Liu, B. M. Chen and Z. Lin,
Linear system toolkit in Matlab: Structural decomposition and their
applications,
Proceedings of the 24th Chinese Control Conference,
Guangzhou, China, pp. 18191824, July 2005.

B. M. Chen, X. Liu and Z. Lin,
Interconnection of the Kronecker canonical form and special coordinate basis
of general multivariable linear systems,
Presented at the
16th IFAC World Congress,
Prague, Czech, July 2005.

W. Lan, B. M. Chen and Y. He,
Composite nonlinear feedback control for a class of nonlinear systems with
input saturation,
Presented at the
16th IFAC World Congress,
Prague, Czech, July 2005.

G. Cai, K. Peng, B. M. Chen and T. H. Lee,
Design and assembling of a UAV helicopter system,
Proceedings of the 5th International Conference on Control and Automation,
Budapest, Hungary, pp. 697702, June 2005.

W. Lan, B. M. Chen and Z. Ding,
Adaptive estimation and rejection of unknown disturbances through measurement
feedback for a class of nonminimum phase nonlinear systems,
Proceedings of the 5th International Conference on Control and Automation,
Budapest, Hungary, pp. 685690, June 2005.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
On the improvement of transient performance in tracking control for
discretetime systems with input saturation and disturbances,
Proceedings of the 5th International Conference on Control and Automation,
Budapest, Hungary, pp. 437442, June 2005.

G. Cheng, B. M. Chen, K. Peng and T. H. Lee,
A Matlab toolkit for composite nonlinear feedback control,
Proceedings of the 8th International Conference on Control,
Automation, Robotics and Vision,
Kunming, China, pp. 878883, December 2004.

S. Lu, B. M. Chen and C. C. Ko,
Document image rectification using fuzzy sets and morphological operator,
Proceedings of the 2004 IEEE International Conference on Image Processing,
Singapore, pp. 28772880, October 2004.

C. K. Pang, G. Guo, B. M. Chen and T. H. Lee,
Nanoposition sensing and control in HDD dualstage servo systems,
Proceedings of the 2004 IEEE Conference on Control Applications,
Taipei, Taiwan, pp. 551556, September 2004.

Y. He, B. M. Chen and C. Wu,
Composite nonlinear feedback control for general discretetime multivariable
systems with actuator nonlinearities,
Proceedings of the 5th Asian Control Conference,
Melbourne, Australia, pp. 539544, July 2004.

G. Cheng, K. Peng, B. M. Chen and T. H. Lee,
Improvement of HDD tracking performance using nonlinear compensation and RPT
control,
Proceedings of the 5th Asian Control Conference,
Melbourne, Australia, pp. 8489, July 2004.

K. Peng, B. M. Chen, G. Cheng and T. H. Lee,
Friction and nonlinearity compensation in hard disk drive servo systems
using robust composite nonlinear feedback control,
Proceedings of the 5th Asian Control Conference,
Melbourne, Australia, pp. 5863, July 2004
(won the Best Industrial Control Application Prize).

Y. He, B. M. Chen and C. Wu,
Composite nonlinear control with state and measurement feedback for
general multivariable systems with input saturation,
Proceedings of the 42nd IEEE Conference on Control and Decision,
Maui, Hawaii, USA, pp. 44694474, December 2003.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
Improvement on an HDD servo system design through friction and disturbance
compensation,
Proceedings of the 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,
Kobe, Japan, pp. 11601165, July 2003.

C. Wu, B. M. Chen and Y. He,
Asymptotic time optimal tracking of a class of linear systems with actuator
nonlinearities,
Proceedings of the 4th International Conference on Control and Automation,
Montreal, Quebec, Canada, pp. 5862, June 2003.

S. J. Lu, B. M. Chen, C. C. Ko, S. T. Kee and M. Poon,
Webbased robot for remote experiments,
Proceedings of the 4th International Conference on Control and Automation,
Montreal, Quebec, Canada, pp. 158162, June 2003.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
Modeling and analysis of micro hard disk drives,
Proceedings of the 4th International Conference on Control and Automation,
Montreal, Quebec, Canada, pp. 952956, June 2003.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
Comprehensive modeling of friction in a hard disk drive actuator,
Proceedings of the 2003 American Control Conference,
Denver, Colorado, USA, pp. 13801385, June 2003.

M. He, B. M. Chen and Z. Lin,
Structural decomposition and its properties of general multivariable linear
singular systems,
Proceedings of the 2003 American Control Conference,
Denver, Colorado, USA, pp. 44944499, June 2003.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
Design of multistage composite nonlinear feedback control for
hard disk drives,
Proceedings of the 17th IEEE International Symposium on Intelligent Control,
Vancouver, British Columbia, Canada, pp. 734739, October 2002.

M. He and B. M. Chen,
Structural decomposition of singleinput and singleoutput
singular systems,
Proceedings of the 4th Asian Control Conference,
Singapore, pp. 16981703, September 2002.

K. Peng, G. Cheng, B. M. Chen and T. H. Lee,
Design of a hard disk drive servo system with composite
nonlinear feedback plus integral to remove bias,
Proceedings of the 4th Asian Control Conference,
Singapore, pp. 676681, September 2002.

B. M. Chen,
Exact computation of optimal value in H∞
control  An open problem,
Presented at the
15th International Symposium on Mathematical Theory of Networks
and Systems, Notre Dame, Indiana, USA, August 2002 (invited).

K. Peng, V. Venkataramanan, B. M. Chen and T. H. Lee,
Design and implementation of a dual stage HDD servo system via composite
nonlinear control approach,
Proceedings of the 15th IFAC World Congress, Barcelona, Spain,
Volume S, pp. 115120, July 2002.

B. M. Chen, T. H. Lee, K. Peng and V. Venkataramanan,
Composite nonlinear feedback control: Theory and an application,
Proceedings of the 15th IFAC World Congress, Barcelona, Spain,
Volume B, pp. 3136, July 2002.

C. C. Ko, B. M. Chen, C. M. Loke, C. D. Chang, X. Xiang, A. K. Eapen and T. S.
Lim,
Automation in creating Java 3Dbased virtual instruments,
Proceedings of the International Conference on Software Engineering
Research and Practice,
Las Vegas, Nevada, USA, pp. 336341, June 2002.

B. M. Chen,
Two open problems in linear control theory,
Proceedings of the 2002 International Conference on Control and Automation,
Xiamen, China, pp. 18091812, June 2002.

V. Prahlad, C. C. Ko, B. M. Chen, C. D. Cheng, X. Xiang, K. W. Chan
and Y. P. Khanal,
Development of webbased mobile robot control experiment,
Proceedings of the 2002 FIRA Robot World Congress,
Seoul, Korea, pp. 488493, May 2002.

X. Liu, B. M. Chen and Z. Lin,
Computation of structural invariants of singular linear systems,
Proceedings of the 2002 Information, Decision and Control Symposium,
Adelaide, Australia, pp. 3540, February 2002.

Y.Y. Cao, Z. Lin and B. M. Chen,
An output feedback H∞
controller design for linear systems subject
to sensor nonlinearities,
Proceedings of the 3rd International Conference on Control Theory and
Applications,
Pretoria, South Africa, pp. 5256, December 2001.

K. Peng, V. Venkataramanan, B. M. Chen and T. H. Lee,
Track following design for a dualstage actuator hard disk drive servo system,
Proceedings of the 3rd International Conference on Control Theory and Applications,
Pretoria, South Africa, pp. 141145, December 2001.

G. Zeng, J. Chen, B. M. Chen, C. C. Ko and X. Xiang,
Design and Implementation of a webbased cryptographic algorithm testing
platform,
Proceedings of the 3rd International Conference on Control Theory and Applications,
Pretoria, South Africa, pp. 542546, December 2001.

X. Xiang, C. D. Cheng, C. C. Ko, B. M. Chen and S. Lu,
API for virtual laboratory instrument using Java 3D,
Proceedings of the 3rd International Conference on Control Theory and Applications,
Pretoria, South Africa, pp. 552556, December 2001.

T. Hu, Z. Lin and B. M. Chen,
Discturbance rejection with saturating actuators for discretetime linear
systems,
Proceedings of the 40th IEEE Conference on Decision and Control,
Orlando, Florida, USA, pp. 17231728, December 2001.

J. Zhang, J. P. Chen, C. C. Ko, B. M. Chen and S. S. Ge,
A webbased laboratory on control of a twodegreefreedom helicopter,
Proceedings of the 40th IEEE Conference on Decision and Control,
Orlando, Florida, USA, pp. 28212826, December 2001 (invited).

C. C. Ko, B. M. Chen, K. P. Chan, C. D. Cheng, G. W. Zeng and J. Zhang,
A webcast virtual laboratory on a frequency modulation experiment,
Proceedings of the 40th IEEE Conference on Decision and Control,
Orlando, Florida, USA, pp. 32363241, December 2001.

T. Hu, Z. Lin and B. M. Chen,
Analysis and design for discretetime linear systems subject to actuator
saturation,
Proceedings of the 40th IEEE Conference on Decision and Control,
Orlando, Florida, USA, pp. 46754680, December 2001.

V. Venkataramanan, K. Peng, B. M. Chen and T. H. Lee,
Design and implementation of a servo controller via discretetime
composite nonlinear feedback law for a hard disk drive,
Proceedings of the 40th IEEE Conference on Decision and Control,
Orlando, Florida, USA, pp. 46874692, December 2001.

C. D. Cheng, P. Vadakkepat, C. C. Ko, B. M. Chen and X. Xiang,
Robot motion control and image reconstruction over internet,
Proceedings of the
International Conference on Computational Intelligence, Robotics
and Autonomous Systems,
Singapore, pp. 423428, November 2001.

Z. Li, K. Liu, B. M. Chen and T. H. Lee,
Robust and perfect tracking control design of a hard disk drive with
a dualstage actuator,
Proceedings of the 2001 American Control Conference,
Arlington, Virginia, USA, pp. 38493854, June 2001.

B. M. Chen, Z. Lin and K. Liu,
Robust and perfect tracking of discrete time systems,
Proceedings of the 2001 American Control Conference,
Arlington, Virginia, USA, pp. 25942599, June 2001.

C. C. Ko, B. M. Chen, V. Ramakrishnan, Y. Zhuang, S. Y. Hu and J. P. Chen,
An innovative advance in conducting experiments  Virtual laboratories
in the National University of Singapore,
Proceedings of the IFAC/IEEE Symposium on Advances in Control Engineering
Education 2000,
Gold Coast, Queensland, Australia, pp. 379383, December 2000.

V. Venkataramanan, B. M. Chen, T. H. Lee and G. Guo,
Improvement of servo performance via nonlinear feedback control
in hard disk drive servo systems,
Proceedings of the 39th IEEE Conference on Decision and Control,
Sydney, Australia, pp. 30883093, December 2000.

X. Liu, B. M. Chen and Z. Lin,
On the problem of general structural assignments of linear systems
through sensor/actuator selection,
Proceedings of the 39th IEEE Conference on Decision and Control,
Sydney, Australia, pp. 19791984, December 2000.

M. He, B. M. Chen and C. C. Ko,
Chinese character recognition using natural stroke sequence,
Proceedings of the Sixth International Conference on Control,
Automation, Robotics and Vision (CDROM), TM1.4, 5 pages,
Singapore, December 2000.

B. M. Chen, K. Liu and Z. Lin,
Solvability conditions and solutions to perfect regulation problem under
measurement feedback,
Proceedings of the Sixth International Conference on Control,
Automation, Robotics and Vision (CDROM), TP3.1, 6 pages,
Singapore, December 2000 (invited).

Z. Lin and B. M. Chen,
Semiglobal stabilization of a class of nonlinear systems
via linear feedback of corrupted output measurement,
Proceedings of the 3rd Asian Control Conference,
Shanghai, China, Volume I, pp. 201206, July 2000.

K. Liu, B. M. Chen and Z. Lin,
On the problem of robust and perfect tracking for linear systems with
external disturbances,
Proceedings of the 2000 American Control Conference,
Chicago, Illinois, USA, pp. 887891, June 2000.

T. Hu, Z. Lin and B. M. Chen,
An analysis and design method for linear systems subject to actuator
saturation and disturbance,
Proceedings of the 2000 American Control Conference,
Chicago, Illinois, USA, pp. 725729, June 2000.

V. Ramakrishnan, Y. Zhuang, S. Y. Hu, J. P. Chen, C. C. Ko, B. M. Chen
and K. C. Tan,
Development of a webbased control experiment for a coupled tank
apparatus,
Proceedings of the 2000 American Control Conference,
Chicago, Illinois, USA, pp. 44094413, June 2000.

Z. Li, G. Guo, B. M. Chen and T. H. Lee,
Optimal control design to achieve highest trackperinch in hard disk drives,
Presented at the
11th Annual Symposium on Information Storage and Processing Systems,
Santa Clara, California, USA, June 2000.

C. Lin, G. Guo, B. M. Chen and C. C. Ko,
Optimal track following control for hard disk drives,
Proceedings of the 6th International Workshop on Advanced Motion Control,
Nagoya, Japan, pp. 502506, March 2000.

V. Venkataramanan, B. M. Chen, T. H. Lee and G. Guo,
Improvement of seeking time and settling response using modified seek
controller and robust perfect tracking controller in hard disk drive
servo systems,
Proceedings of International Conference on Evolutionary Computing
for Computer, Communication, Control and Power,
Chennai, India, pp. 143148, January 2000.

B. M. Chen, I. M. Y. Mareels, Y. F. Zheng and C. Zhang,
Solutions to disturbance decoupling problem with constant measurement
feedback for linear systems,
Proceedings of the 38th IEEE Conference on Decision and Control,
Phoenix, Arizona, USA, pp. 40624067, December 1999.

T. B. Goh, Z. Li, B. M. Chen, T. H. Lee and T. Huang,
Design and implementation of a hard disk drive servo system using
robust and perfect tracking approach,
Proceedings of the 38th IEEE Conference on Decision and Control,
Phoenix, Arizona, USA, pp. 52475252, December 1999.

B. M. Chen,
On some key properties of the special coordinate basis of linear systems,
Proceedings of the 14th IFAC Triennial World Congress,
Beijing, China, Volume D, pp. 351356, July 1999.

Z. Lin and B. M. Chen,
Solutions to general H∞
almost disturbance decoupling problem with
measurement feedback and internal stability for discretetime systems,
Proceedings of the 14th IFAC Triennial World Congress,
Beijing, China, Volume G, pp. 359364, July 1999.

T. B. Goh, Z. Li, B. M. Chen and T. H. Lee,
Control design for a dualstage actuator in hard disk drives,
Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control,
Hong Kong, China, pp. 577582, July 1999.

S. H. Chen, R. Chen, V. Ramakrishnan, S. Y. Hu, Y. Zhuang, C. C. Ko
and B. M. Chen,
Development of remote laboratory experimentation through Internet,
Proceedings of the 1999 IEEE Hong Kong Symposium on Robotics and Control,
Hong Kong, China, pp. 756760, July 1999.

X. Hu, W. Guo, T. Huang, and B. M. Chen,
Discretetime LQG/LTR dualstage controller design and implementation for
high track density HDDS,
Proceedings of the 1999 American Control Conference,
San Diego, California, USA, pp. 41114115, June 1999.

K. W. Choo, G. Guo and B. M. Chen,
PCbased hard disk drive bodeplot generator,
Proceedings of the Seventh Asian Test Symposium,
Singapore, pp. 184188, December 1998.

L. Wang, L. Yuan, B. M. Chen and T. H. Lee,
Modeling and control of a dual actuator servo system for hard disk drives,
Proceedings of the 1998
International Conference on Mechatronic Technology,
Hsinchu, Taiwan, pp. 533538, November 1998.

X. Hu, S. Weerasooriya, T. S. Low and B. M. Chen,
Dual stage actuator modeling and control in a CDROM drive,
Proceedings of the
24th Annual Conference of the IEEE Industrial Electronics Society,
Aachen, Germany, Volume 3, pp. 13941398, August 1998.

W. Guo, L. Yuan, L. Wang, G. Guo, T. Huang, B. M. Chen and T. H. Lee,
Linear quadratic optimal dual stage servo control system for hard disk
drives,
Proceedings of the
24th Annual Conference of the IEEE Industrial Electronics Society,
Aachen, Germany, Volume 3, pp. 14051410, August 1998.

G.P. Lu, Y.F. Zheng and B. M. Chen,
Strongly robust performance design for linear systems with multiple
time delays and parameter uncertainties,
Proceedings of the IFAC Conference on System Structure and Control,
Nantes, France, Volume 3, pp. 663668, July 1998.

B. C. Siew, B. M. Chen and T. H. Lee,
Design and implementation of a robust controller for a free gyrostabilized
mirror system,
Proceedings of the 1998 American Control Conference,
Philadelphia, PA, USA,
pp. 22312235, June 1998.

B. M. Chen,
Solvability conditions for the disturbance decoupling problems with static
measurement feedback,
Proceedings of the 1998 American Control Conference,
Philadelphia, PA, USA,
pp.15411542, June 1998.

B. M. Chen, Z. Lin and C. C. Hang,
Solutions to general H∞
almost disturbance decoupling
problem with measurement feedback and internal stability  An
eigenstructure assignment approach,
Proceedings of the 1998 American Control Conference,
Philadelphia, PA, USA,
pp. 15361540, June 1998.

Z. Lin, X. Bao and B. M. Chen, Further results
on almost disturbance decoupling with global asymptotic stability for nonlinear
systems, Proceedings of the 36th IEEE Conference on Decision and
Control, San Diego, California, USA, pp. 28472852, December 1997.

Z. Lin, B. M. Chen, Y. Shamash and J. He, Solutions
to general H∞
almost disturbance decoupling problem with measurement
feedback and internal stability for discretetime systems, Proceedings
of the IEEE Singapore International Symposium on Control Theory and Applications,
Singapore, pp. 331335, July 1997.

B. C. Siew, B. M. Chen and T. H. Lee, Robust
and perfect tracking control of a free gyro stabilized mirror system,
Proceedings of the IEEE Singapore International Symposium on Control
Theory and Applications, Singapore, pp. 311315, July 1997.

T. B. Goh, S. Weerasooriya, B. M. Chen and T.
H. Lee, Design of dual actuator controller for hard disk drives, Proceedings
of the IEEE Singapore International Symposium on Control Theory and Applications,
Singapore, pp. 8892, July 1997.

Q. G. Wang, T. H. Lee, J. B. He and B. M. Chen,
Simultaneous and robust stabilization of uncertain linear plants, Proceedings
of the 2nd Asian Control Conference, Seoul, Korea, Volume III, pp.
411414, July 1997.

J. He and B. M. Chen Checkable solvability conditions
for H∞
almost disturbance decoupling problem for general discretetime
systems with unit circle invariant zeros, Proceedings of the 2nd Asian
Control Conference, Seoul, Korea, Volume II, pp. 415418, July 1997.

B. M. Chen and S. R. Weller, Mappings of the
finite and infinite zero structures and invertibility structures of general
linear multivariable systems under the bilinear transformation, Proceedings
of the 2nd Asian Control Conference, Seoul, Korea, Volume II, pp. 139142,
July 1997.

B. M. Chen, Exact computation of infimum for
a class of continuoustime H∞
optimal control problem with a nonzero
direct feedthrough term from the disturbance input to the controlled output,
Proceedings of the 2nd Asian Control Conference, Seoul, Korea, Volume
I, pp. 737740, July 1997 (won the Best Poster Paper Award).

B. M. Chen, Y. Guo and Z. Lin, Noniterative
computation of infimum in discretetime H∞
optimisation and solvability
conditions for the discretetime disturbance decoupling problem, Proceedings
of the 2nd Asian Control Conference, Seoul, Korea, Volume I, pp. 721724,
July 1997.

B. M. Chen, T. H. Lee, C. C. Hang, C. S. Goh
and E. K. Poh, Gain scheduling for robust controllers in flight control
systems, Proceedings of the Fourth International Conference on Control,
Automation, Robotics and Vision, Singapore, pp. 14231427, December
1996.

B. M. Chen and J. He, Exact computation of infimum
in discretetime H∞
optimization for plants with unit circle invariant
zeros, Proceedings of the Fourth International Conference on Control,
Automation, Robotics and Vision, Singapore, pp. 822826, December 1996.

B. M. Chen, Exact computation of infimum in
discretetime H∞
optimization using measurement feedback, Proceedings
of the 13th IFAC Triennial World Congress, San Francisco,
California, USA, Volume G, pp.
151156, July 1996.

B. M. Chen, T. H. Lee, C. C. Hang, Y. Guo and
S. Weerasooriya, An H∞
almost disturbance decoupling robust controller
design for a piezoelectric bimorph actuator with hysteresis, Proceedings
of the 4th International Workshop on Advanced Motion Control,
Tsucity, Japan, pp. 476481, March 1996.

B. M. Chen, T. H. Lee, C. C. Hang, C. S. Goh
and E. K. Poh, Gain scheduling for robust controllers in flight control
systems, Proceedings of the Seventh MINDEFNUS Joint R & D Seminar,
National University of Singapore, Singapore, pp. 916, January 1996.

Z. Lin, B. M. Chen and Y. Shamash, On global
stabilization of a chain of integrators subject to actuator saturation
via linear feedback of saturated state measurement, Proceedings of
the 1995 IEEE Singapore International Conference on Intelligent Control
and Instrumentation, Singapore, pp. 402407, July 1995.

B. M. Chen, A noniterative method for the computation
of the infimum and closedform solution to a class of discretetime
H∞ optimal control problem,
Proceedings of the First Asian Control Conference,
Tokyo, Japan, Vol. III, pp. 5760, July 1994 (invited).

B. M. Chen and D. Z. Zheng, Simultaneous finite
and infinite zero assignments of linear systems, Proceedings of the
First Asian Control Conference, Tokyo, Japan, Vol. I, pp. 459462,
July 1994.

Z. Lin, B. M. Chen, A. Saberi and U. Ly, Simultaneous
H2/H∞
optimal control for discrete time systems: The state feedback
case, Proceedings of the 1994 American Control Conference, Baltimore,
Maryland, USA, pp. 22462250, June 1994.

A. A. Stoorvogel, A. Saberi and B. M. Chen, The
discretetime H∞
control problem with strictly proper measurement
feedback, Proceedings of the 1994 American Control Conference,
Baltimore, Maryland, USA, pp. 22412245, June 1994.

B. M. Chen and Y.L. Chen, Loop transfer recovery
design via continuous time current type observer based controller, Proceedings
of the 32nd IEEE Conference on Decision and Control, San Antonio, Texas,
USA, pp. 33453346, December 1993.

B. M. Chen, A. Saberi and Y. Shamash, Necessary
and sufficient conditions under which a discrete time H2optimal control
problem has a unique solution, Proceedings of the 32nd IEEE Conference
on Decision and Control, San Antonio, Texas, USA, pp. 805810,
December 1993.

B. M. Chen, A. Saberi, Y. Shamash and P. Sannuti,
Construction and parameterization of all static and dynamic H2optimal
state feedback solutions for discrete time systems, Proceedings of
the 32nd IEEE Conference on Decision and Control, San Antonio, Texas,
USA, pp. 126131, December 1993.

A. A. Stoorvogel, A. Saberi and B. M. Chen, The
discretetime H∞
control problem with measurement feedback, Systems
and Networks: Mathematical Theory and Applications, Vol. II, Editors
U. Helmke, R. Mennicken, J. Saurer, Akademie Verlag, Berlin, Series: Mathematical
Research, Vol. 79, pp. 497502, 1994. (Presented at the International
Symposium on Mathematical Theory of Networks and Systems, Regensburg,
Germany, August 1993)

A. Saberi, B. M. Chen, P. Sannuti and U. Ly,
Simultaneous H2/H∞
optimal control: The state feedback case,
Proceedings of the 12th IFAC Triennial World Congress,
Sydney, Australia, Volume 2, pp. 487490, July 1993.

B. M. Chen, A. Saberi and Y. Shamash, A nonrecursive
method for solving the general discrete time algebraic Riccati equation
related to the H∞
control problem, Proceedings of the 1993
American Control Conference, San Francisco, California, USA,
pp. 26492653, June 1993.

A. Saberi, B. M. Chen and Z. Lin, Closedform
solutions to a class of H∞
optimization problem (output feedback
case), Proceedings of the 31st IEEE Conference on Decision and Control,
Tucson, Arizona, USA, pp. 22612262, December 1992.

B. M. Chen and A. Saberi, Necessary and sufficient
conditions under which an H2optimal control problem has a unique solution,
Proceedings of the 31st IEEE Conference on Decision and Control,
Tucson, Arizona, USA, pp. 11051110, December 1992.

Z. Lin, B. M. Chen and A. Saberi, Explicit
expressions for cascade factorizations of general nonstrictly proper systems,
Proceedings of the 31st IEEE Conference on Decision and Control,
Tucson, Arizona, USA, pp. 447452, December 1992.

B. M. Chen, A. Saberi, P. Sannuti and Y. Shamash,
Construction and parameterization of all static and dynamic H2optimal
state feedback solutions, optimal fixed modes and fixed decoupling zeros,
Proceedings of the 31st IEEE Conference on Decision and Control,
Tucson, Arizona, USA, pp. 419424, December 1992.

Z. Lin, A. Saberi and B. M. Chen, Linear
systems toolbox: System analysis and control design in the MATLAB environment,
Proceedings of the First IEEE Conference on Control Applications,
Dayton, Ohio, USA, pp. 659664, September 1992.

A. Saberi, B. M. Chen, P. Sannuti and U. Ly,
Simultaneous H2/H∞
optimal control: The state feedback case,
Proceedings of the 1992 AIAA Guidance, Navigation and Control Conference,
Hilton Head, South Carolina, USA, pp. 885895, August 1992.

B. M. Chen, A. Saberi, P. Sannuti and Y. Shamash,
Loop transfer recovery for general nonminimum phase discrete time systems;
Part 2: Design, Proceedings of the 1992 American Control Conference,
Chicago, Illinois, USA, pp. 31083112, June 1992.

B. M. Chen, A. Saberi, P. Sannuti and Y. Shamash,
Loop transfer recovery for general nonminimum phase discrete time systems;
Part 1: Analysis, Proceedings of the 1992 American Control Conference,
Chicago, Illinois, USA, pp. 31013107, June 1992.

B. M. Chen and A. Saberi, Noniterative computation
of the infimum in H∞
optimization for plants with invariant zeros
on the jw axis, Proceedings of the 1992 American Control Conference,
Chicago, Illinois, USA, pp. 18721875, June 1992.

A. A. Stoorvogel, A. Saberi and B. M. Chen, Full
and reduced order observer based controller design for H2optimization,
Proceedings of the 1992 American Control Conference, Chicago, Illinois,
USA, pp. 343350, June 1992.

B. M. Chen, A. Saberi, P. Sannuti and Y. Shamash,
Construction and parameterization of all static and dynamic H2optimal
state feedback solutions, Proceedings of the 26th Annual Conference
on Information Sciences and Systems, Princeton, New Jersey, USA, pp. 3543, March 1992.

B. M. Chen, A. Saberi and P. Sannuti, On blocking
zeros and strong stabilizability of linear multivariable systems, Proceedings
of the 30th IEEE Conference on Decision and Control, Brighton, UK, pp. 557562, December 1991.

B. M. Chen, A. Saberi and P. Sannuti, Necessary
and sufficient conditions for a nonminimum phase plant to have a recoverable
target loop  A stable compensator design for LTR, Proceedings of
the 30th IEEE Conference on Decision and Control, Brighton, UK, pp. 248249, December 1991.

B. M. Chen, A. Saberi and U. Ly, A noniterative
method for computing the infimum in H∞
optimization, Proceedings
of the 30th IEEE Conference on Decision and Control, Brighton, UK, pp. 182187, December 1991.

A. Saberi, B. M. Chen and Z. Lin, Closedform
solutions to a class of H∞
optimization problem, Proceedings
of the 29th Annual Allerton Conference on Communication, Control and Computing,
Monticello, Illinois, USA, pp. 7483, October 1991.

A. A. Stoorvogel, A. Saberi and B. M. Chen, Characterization
of all closedloop transfer function matrices in H∞
optimization,
Proceedings of the 29th Annual Allerton Conference on Communication,
Control and Computing, Monticello, Illinois, USA, pp. 5059,
October 1991.

B. M. Chen, A. Saberi and U. Ly, Closed loop
transfer recovery with observer based controllers; Part 2: Design, Proceedings
of the 1991 AIAA Guidance, Navigation and Control Conference, New Orleans,
Louisiana, USA, pp. 11101126, August 1991.

B. M. Chen, A. Saberi and U. Ly, Closed loop
transfer recovery with observer based controllers; Part 1: Analysis, Proceedings
of the 1991 AIAA Guidance, Navigation and Control Conference, New Orleans,
Louisiana, USA, pp. 10951109, August 1991.

B. M. Chen, A. Saberi and U. Ly, An exact algebraic
solution of the infimum in H∞
optimization with output feedback,
Proceedings of the 1991 AIAA Guidance, Navigation and Control Conference,
New Orleans, Louisiana, USA, pp. 730740, August 1991.

A. A. Stoorvogel, A. Saberi and B. M. Chen, A
reduced order observer based controller design for H∞
optimization,
Proceedings of the 1991 AIAA Guidance, Navigation and Control Conference,
New Orleans, Louisiana, USA, pp. 716722, August 1991.

B. M. Chen, A. Saberi, U. Ly and Y. S. Ebrahimi,
Design of localizer capture and track hold for a transport airplane: An
H∞/LTR approach,
Proceedings of the 29th IEEE Conference on Decision and Control,
Honolulu, Hawaii, USA, pp. 33493350, December 1990.

A. Saberi, B. M. Chen and P. Sannuti, Theory
of LTR for nonminimum phase systems, recoverable target loops, recovery
in a subspace; Part I: Analysis,
Proceedings of the 29th IEEE Conference on Decision and Control,
Honolulu, Hawaii, USA, pp. 25002505, December 1990.

B. M. Chen, A. Saberi, S. Bingulac and P. Sannuti,
Loop transfer recovery for nonstrictly proper plants,
Proceedings of the 29th IEEE Conference on Decision and Control,
Honolulu, Hawaii, USA, pp. 10361041, December 1990.

B. M. Chen, A. Saberi and U. Ly, Exact computation
of the infimum in H∞
optimization via state feedback,
Proceedings of the 28th Annual Allerton Conference on Communication,
Control and Computing,
Monticello, Illinois, USA, pp. 745754, October 1990.

B. M. Chen, A. Saberi and P. Sannuti, A new
stable compensator design for exact and approximate loop transfer recovery,
Proceedings of the 1990 American Control Conference,
San Diego, California, USA, pp. 812817, May 1990.

B. M. Chen, S. Bingulac and A. Saberi, A CAD
package for LTR design via asymptotic eigenstructure and timescale structure
assignment,
Proceedings of the 27th Annual Allerton Conference on Communication,
Control and Computing,
Monticello, Illinois, USA, pp. 439440, September 1989.