**First, some personal thoughts on
publishing:** I
think we (as a research community) publish way too much.
Everyone is
always busy trying to meet a paper submission deadline or reviewing
other people's papers. I wish we had more time to think about our ideas,
discuss them with colleagues, and select and develop the best ones.
If we produce fewer papers, their quality will be
higher and it will be easier for others to keep up with them now and
find them in the future, which
will mean higher long-term value and impact of our work. I am
certainly guilty
of writing
too many papers myself, even
though I
actually write
fewer papers than many of my colleagues. The current academic
system unfortunately
puts pressure on all of us to publish more than we should, and so we
need to (gradually) change the system.
We should
resist "bean counting" when it comes to hiring and promotions, and
keep ourselves and our students focused on depth and quality. In fact,
even in the current system - at least at top institutions - it is more
beneficial
for one's career to publish
a
few really good papers than a lot of mediocre ones, but not everyone seems to realize it.

"An author who is willing to take credit for a paper must also bear responsibility for its contents." *On Being a Scientist: Responsible Conduct in Research (2nd edition, 1995)
*

CALCULUS OF VARIATIONS AND OPTIMAL CONTROL THEORY:
A CONCISE INTRODUCTION, Princeton University
Press, 2012. ISBN 978-0-691-15187-8. Online preview (HTML) | Free preliminary copy (PDF) | Sample quotes | Front and back cover | Courses that use the book This is a textbook for a first-year graduate course on calculus of variations and optimal control theory. Its aim is to provide a concise and rigorous introduction to the subject without requiring extensive background in control theory or advanced mathematics from the student. After presenting the main results in calculus of variations, the book makes a gradual transition to optimal control and discusses the maximum principle, the Hamilton-Jacobi-Bellman theory of dynamic programming, and linear-quadratic optimal control. Unique features of the book include: - Logical and notational consistency in the exposition of classical and modern topics provides a unified view of the field
- A complete proof of the maximum principle is the centerpiece of the book, with special attention paid to preparing the ground for this proof beforehand
- Remarks tracing the historical evolution of ideas and results complement the technical developments
From reviewers’ comments: “The manuscript is a very scholarly – and indeed concise – introduction to optimal control theory. While many books on the topic have been published, the author argues convincingly in the preface for the utility of his contribution, which is marked by a nice balance of rigor and accessibility, an elegant historical progression, and a careful and complete proof of the maximum principle. Without doubt, the author has achieved the objectives stated in the preface. A course based on this manuscript should be a pleasure to take, an enriching experience guided by careful mathematics, fascinating historical perspectives, and thought-provoking exercises… The notes and references at the end of each chapter are excellent, as is the flow of the chapters.” “I can not think of another text which can serve as a brief introduction to the field, which explains the maximum principle well, and which is accessible to graduate students in engineering… The author put a lot of effort into explaining most of the technical material, clearly with the students in mind. The organization of the material is good, so is the choice of presented topics. The size of the manuscript is very manageable… The exercises appear challenging but well-chosen and should greatly help students understand the material.” |

Other **reviews** of this book:
AMS Math Reviews, Zentralblatt
Math,
Amazon.com.

More info about this book on books.google.com

SWITCHING
IN SYSTEMS AND CONTROL, Birkhauser, Boston, MA, Jun 2003.
Volume in series Systems and Control: Foundations and Applications.
ISBN 978-0-8176-4297-6.
Available through SpringerLink here (subscription required). This book examines switched systems from a control-theoretic perspective, focusing on stability analysis and control synthesis of systems that combine continuous dynamics with switching events. The theory of such switched systems is related to the study of hybrid systems, which has recently attracted considerable attention among control theorists, computer scientists, and practicing engineers. Aimed at readers with a background in systems and control, this book bridges the gap between classical mathematical control theory and the interdisciplinary field of hybrid systems. The book is divided into three main parts: - Part I introduces the classes of systems studied in the book
- Part II develops stability theory for switched systems; it covers single and multiple Lyapunov function analysis methods, Lie-algebraic stability criteria, stability under limited-rate switching, and switched systems with various types of useful special structures
- Part III is devoted to switching control design; it describes several wide classes of continuous-time control systems for which the logic-based switching paradigm emerges naturally as a control design tool. Switching control algorithms for several specific problems are discussed.
Requiring only familiarity with the basic theory of linear systems, the book is suitable as a text for a graduate course on switched systems and switching control. It may also serve as an introduction to this active area of research for control theorists and mathematicians, as well as a useful reference for experts in the field. |

More info about this book on books.google.com

Read **reviews** of this book
in IEEE Control Systems
Magazine, IEEE Transactions on Automatic
Control,
AMS Math Reviews,
Zentralblatt
Math, and on Amazon.com.

For a chronological list of journal papers, please see my CV.

Go to this page for more information about my co-authors.

**Click on a topic to see its
expanded (and more accurate) name.** Sometimes the same paper is listed
under several
topics.
Papers within each topic are arranged by category: journal articles, then book
chapters (if any), then conference articles. Within each category, more recent papers
are closer to the top.

Nonlinear observers robust to measurement disturbances in an ISS sense (with H. Shim),
*IEEE Transactions on Automatic Control*, vol. 61, no. 1, pp. 48-61, Jan 2016.

↓Abstract

An asymptotic ratio characterization of input-to-state stability (with H. Shim),
*IEEE Transactions on Automatic Control*, vol. 60, no. 12, pp. 3401-3404, Dec 2015.

↓Abstract

Norm-controllability of nonlinear
systems (with M. Müller and F. Allgöwer), *IEEE Transactions on Automatic Control*, vol. 60, no. 7, pp. 1825-1840, Jul 2015.

↓Abstract
Addendum

Lyapunov conditions for
input-to-state stability of impulsive systems (with J. P. Hespanha and
A. R. Teel),
*Automatica*, vol. 44, no.
11, pp. 2735-2744, Nov 2008.

↓Abstract

Nonlinear norm-observability notions and
stability of switched
systems (with J. P. Hespanha, D. Angeli,
and
E. D.
Sontag), * IEEE Transactions on Automatic Control*, vol. 50, no.
2, pp. 154-168, Feb 2005.

↓Abstract

Output-input stability
implies feedback stabilization,
* Systems and Control Letters*, vol. 53, no. 3/4, pp. 237-248, Nov
2004.

↓Abstract

Universal construction of feedback laws
achieving ISS and integral-ISS disturbance attenuation (with
E. D.
Sontag and Y. Wang),
*Systems and Control Letters*, vol. 4, no. 2, pp. 111-127, Jun 2002.

↓Abstract
Erratum

Output-input stability and minimum-phase nonlinear
systems
(with A. S. Morse
and E. D.
Sontag),
*IEEE Transactions on Automatic
Control*, vol. 47, no. 3, pp. 422-436, Mar 2002.

↓Abstract

On almost Lyapunov functions for non-vanishing vector fields (with S. Liu and V. Zharnitsky), in Proceedings of
the *55th IEEE Conference on Decision and
Control*,
Las Vegas, NV, Dec 2016, pp. 5557-5562.

↓Abstract

On almost Lyapunov functions (with C. Ying and V. Zharnitsky), in Proceedings of
the *53rd IEEE Conference on Decision and
Control*, Los Angeles, CA, Dec 2014, pp. 3083-3088.

↓Abstract
See also
the slides of the talk.

Norm-controllability, or how a nonlinear
system responds to large inputs (with M. Müller and F. Allgöwer),
in Proceedings of
the *9th IFAC Symposium
on Nonlinear Control Systems (NOLCOS 2013)* (semi-plenary paper), Toulouse, France, Sep 2013, pp. 104-109.

↓Abstract
See also
the slides of the talk.

Relaxed conditions for norm-controllability of nonlinear systems (with M. Müller and F. Allgöwer),
in Proceedings of
the *51st IEEE Conference on Decision and
Control*, Maui, HI, Dec 2012, pp. 314-319.

↓Abstract
See also a more
complete version.

On norm-controllability of nonlinear systems
(with M. Müller and F. Allgöwer), in Proceedings of the *50th IEEE Conference
on Decision and Control and European Control Conference*, Orlando, FL, Dec 2011, pp. 1741-1746.

↓Abstract

Quasi-ISS reduced-order observers and quantized output feedback (with H.
Shim and J.-S. Kim),
in Proceedings of the *48th IEEE Conference on Decision and
Control*, Shanghai, China, Dec 2009, pp. 6680-6685.

↓Abstract
See also
the slides of the talk.

On input-to-state stability of impulsive systems (with J. P. Hespanha and A. R. Teel),
in Proceedings of the *44th IEEE Conference on Decision and
Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 3992-3997.

↓Abstract
See also a more
complete version.

Output-input stability and feedback stabilization of
multivariable nonlinear control systems,
in Proceedings of the *42nd IEEE Conference on Decision and
Control*, Maui, HI, Dec 2003, pp. 1550-1555.

↓Abstract
See also
the slides of the talk.

Nonlinear observability and an invariance principle for switched systems
(with J. P. Hespanha
and
E. D.
Sontag), in Proceedings of the *41st IEEE Conference on Decision and
Control*, Las Vegas, NV, Dec 2002, pp. 4300-4305.

↓Abstract
See also
the slides of the
talk.

Output-input stability of nonlinear systems and
input/output operators, in Proceedings of the *15th International Symposium on Mathematical
Theory of Networks and Systems (MTNS)*, South Bend, IN, Aug 2002.

↓Abstract
See also
the slides of the
talk.

Output-input stability: a new
variant of the
minimum-phase property for nonlinear
systems
(with
A. S. Morse
and
E. D.
Sontag), in Proceedings of the *5th IFAC Symposium
on Nonlinear Control Systems (NOLCOS 2001)*, St. Petersburg,
Russia, Jul 2001,
pp. 743-748.

↓Abstract
See also
the slides of the talk.

A new definition of the minimum-phase property
for nonlinear systems, with an application to adaptive control
(with A. S. Morse
and E. D.
Sontag), in Proceedings of the *39th IEEE Conference on Decision and
Control*, Sydney, Australia, Dec
2000, pp. 2106-2111.

↓Abstract
See also
the slides of the talk

ISS and integral-ISS
disturbance attenuation with bounded controls,
in Proceedings of the
*38th IEEE Conference on Decision and Control*, Phoenix, AZ, Dec
1999, pp. 2501-2506.

↓Abstract
See also
the slides of the talk.

On
integral-input-to-state stabilization (with
E. D.
Sontag and Y. Wang), in Proceedings
of the *1999 American Control Conference*, San Diego, CA, Jun
1999, pp. 1598-1602.

↓Abstract
See also
the slides of the talk.

Unified stability criteria for slowly time-varying and
switched linear systems (with X. Gao, J. Liu, and T. Basar),
submitted to *Automatica*, Jan 2017.

↓Abstract

Feedback stabilization of a switched linear system with
unknown disturbances under data-rate constraints (with G. Yang),
*IEEE Transactions on Automatic Control*, to appear.

↓Abstract

Lyapunov small-gain theorems for networks of
not necessarily ISS hybrid systems (with A. Mironchenko and G. Yang),
Automatica, to appear.

↓Abstract

Generalized
switching signals for input-to-state stability of switched systems (with A. Kundu and D. Chatterjee),
*Automatica*, vol. 64, pp. 270–277, Feb 2016.

↓Abstract

A Lyapunov-based small-gain theorem for
interconnected switched systems (with G. Yang),
*Systems and Control Letters*, vol. 78, pp. 47-54, Apr 2015.

↓Abstract

Lyapunov-based small-gain theorems for hybrid systems (with D. Nesic and A. R. Teel),
*IEEE Transactions on Automatic Control*, vol. 59, no. 6, pp. 1395-1410, Jun 2014.

↓Abstract

Finite data-rate feedback stabilization of
switched and hybrid linear systems,
*Automatica*, vol. 50, no. 2, pp. 409-420, Feb 2014.

↓Abstract

On observability for switched linear systems:
characterization and observer design (with A. Tanwani and H. Shim),
*IEEE Transactions on Automatic Control*, vol. 58, no. 4, pp. 891-904, Apr 2013.

↓Abstract
Erratum

Input/output-to-state stability and state-norm estimators for
switched nonlinear systems (with M.
Müller), *Automatica*, vol. 48, no. 9, pp. 2029-2039, Sep 2012.

↓Abstract

Switched nonlinear differential algebraic equations:
solution theory, Lyapunov functions,
and stability (with
S. Trenn), *Automatica*, vol. 48, no. 5, pp. 954-963, May 2012.

↓Abstract

On robust Lie-algebraic stability conditions for
switched linear
systems (with A. A. Agrachev and Y. Baryshnikov), *Systems and Control Letters*, vol. 61, no. 2,
pp. 347-353, Feb 2012.

↓Abstract

Stabilizing randomly switched systems (with
D. Chatterjee), SIAM Journal on Control and Optimization, vol. 49, no. 5, pp. 2008-2031, 2011.

↓Abstract

An inversion-based approach
to fault detection and isolation in switching electrical networks (with
A. Tanwani and A. D. Dominguez-Garcia), *IEEE Transactions on Control Systems Technology*,
vol. 19, no. 5, pp. 1059-1074, Sep 2011.

↓Abstract

Invertibility of
nonlinear switched systems (with A. Tanwani), *Automatica*,
vol. 46, no. 12, pp. 1962-1973, Dec 2010.

↓Abstract

Verifying average dwell time of hybrid systems
(with S. Mitra and N. Lynch), *ACM Transactions on Embedded Computing
Systems*, vol. 8, article 3, pp. 1-37, Dec 2008.

↓Abstract

Invertibility of switched linear systems
(with L.
Vu),
*Automatica*,
vol. 44, no. 4, pp. 949-958, Apr 2008.

↓Abstract

On stability of randomly switched nonlinear systems
(with D. Chatterjee),
*IEEE Transactions on Automatic Control*,
vol. 52, no. 12, pp. 2390-2394, Dec 2007.

↓Abstract

Input-to-state stability of switched systems and switching adaptive
control
(with L.
Vu and D. Chatterjee),
*Automatica*,
vol. 43, no. 4, pp. 639-646, Apr 2007.

↓Abstract

Stability analysis of deterministic and stochastic switched systems via
a comparison principle and multiple Lyapunov functions
(with D. Chatterjee),
*SIAM Journal on Control and Optimization*,
vol. 45, no. 1, pp. 174-206, 2006.

↓Abstract

Lie-algebraic
stability conditions for nonlinear switched systems and
differential inclusions
(with M. Margaliot),
*Systems and Control Letters*,
vol. 55, no. 1, pp. 8-16, Jan 2006.

↓Abstract

Common Lyapunov functions for families
of
commuting nonlinear systems
(with L.
Vu),
*Systems and Control Letters*, vol. 54, no. 5, pp. 405-416, May 2005.

↓Abstract

Nonlinear norm-observability notions and
stability of switched
systems (with J. P. Hespanha, D. Angeli,
and
E. D.
Sontag),
* IEEE Transactions on Automatic Control*, vol. 50, no.
2, pp. 154-168, Feb 2005.

↓Abstract

Common Lyapunov functions and gradient
algorithms
(with R. Tempo),
* IEEE Transactions on Automatic Control*, vol. 49, no. 6, pp.
990-994, Jun 2004.

↓Abstract

Lie-algebraic
stability criteria for
switched systems
(with A. A. Agrachev),
* SIAM Journal on Control and Optimization*, vol. 40, no. 1,
pp. 253-269, Jun 2001.

↓Abstract
Note: I subsequently learned that a result essentially equivalent to Theorem 2
of this paper
was proved earlier by
S. A. Kutepov (Absolute stability of bilinear systems with a compact Levi
factor, in Russian,
Kibernet. i Vychisl. Tekhn., vol. 62, pp. 28-33, 1984). Details

Basic problems in stability and design of
switched
systems (with A. S. Morse),
*IEEE Control Systems
Magazine*, vol. 19, no. 5, pp. 59-70, Oct. 1999.

↓Abstract

Stability of switched systems:
a Lie-algebraic condition (with J. P. Hespanha and
A. S. Morse),
*Systems and Control Letters*, vol. 37, no. 3, pp. 117-122, Jul
1999.

↓Abstract
See also
the slides of the talk given at the
Brockettfest,
Cambridge, MA, Oct 1998.

Addendum

Observer design for switched linear systems
with state jumps (with A. Tanwani and H. Shim),
in *Hybrid Dynamical Systems: Observation and Control*, *Lecture Notes
in
Control and Information Sciences*, vol. 457 (M. Djemai and
M. Defoort, Eds.),
Springer International Publishing, Switzerland, 2015, pp.
179-203.

↓Abstract

Stability analysis of hybrid systems via small-gain theorems (with D. Nesic),
in Proceedings of the *Ninth International Workshop on Hybrid Systems:
Computation and Control*, Santa Barbara, CA, Mar 2006, *Lecture Notes
in
Computer Science*, vol. 3927 (J. Hespanha and A. Tiwari, Eds.),
Springer, Berlin, pp.
421-435.

↓Abstract

Verifying
average dwell time by solving optimization problems (with S. Mitra and N. Lynch),
in Proceedings of the *Ninth International Workshop on Hybrid Systems:
Computation and Control*, Santa Barbara, CA, Mar 2006, *Lecture Notes
in
Computer Science*, vol. 3927 (J. Hespanha and A. Tiwari, Eds.),
Springer, Berlin, pp. 476-490.

↓Abstract
See also a more
complete version.

Switched systems,
* Handbook of Networked and Embedded Control Systems* (D.
Hristu-Varsakelis and W. S. Levine, Eds.), Birkhauser, Boston, 2005, pp.
559-574.

Lie algebras and stability of switched
nonlinear systems,
Unsolved
Problems in Mathematical Systems Theory and Control
(V. D. Blondel and A. Megretski,
Eds.), Princeton University Press, 2004, pp. 203-207.
See also *Open Problems Book* of the *15th International Symposium on Mathematical
Theory of Networks and Systems (MTNS)*, South Bend, IN, Aug 2002, pp. 90-92.

See also a partial solution.

↓Abstract

Analysis of different Lyapunov function constructions for
interconnected hybrid systems (with G. Yang and A. Mironchenko), in Proceedings of
the *55th IEEE Conference on Decision and
Control*,
Las Vegas, NV, Dec 2016, pp. 465-470.

↓Abstract

Finite data-rate stabilization of a switched linear system with unknown disturbance (with G. Yang), in Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016), Monterey, CA, Aug 2016, pp. 1103-1108.

↓Abstract

Connections between stability conditions for slowly time-varying and
switched linear systems (with X. Gao, J. Liu, and T. Basar), in Proceedings of
the *54th IEEE Conference on Decision and
Control*, Osaka, Japan, Dec 2015, pp. 2339-2334.

↓Abstract

Stabilizing a switched linear system with disturbance by sampled-data quantized feedback (with G. Yang), in Proceedings of
the *American Control
Conference*, Chicago, IL, Jul 2015, pp. 2193-2198.

↓Abstract

Input-to-state stability for switched systems with
unstable subsystems: a hybrid Lyapunov construction (with G. Yang), in Proceedings of
the *53rd IEEE Conference on Decision and
Control*, Los Angeles, CA, Dec 2014, pp. 6240-6245.

↓Abstract

Lyapunov small-gain theorems for not necessarily ISS hybrid systems (with A. Mironchenko and G. Yang), in Proceedings of the *21st International Symposium on Mathematical
Theory of Networks and Systems (MTNS)*, Groningen, the Netherlands, Jul 2014, pp. 1001-1008.

↓Abstract

Robust stability conditions for switched linear systems: commutator bounds and the Lojasiewicz inequality (with Y. Baryshnikov),
in Proceedings of the *52nd IEEE Conference
on Decision and Control*, Florence, Italy, Dec 2013, pp. 722-726.

↓Abstract

Limited-information control of hybrid systems via reachable set propagation,
in Proceedings of the *16th ACM International Conference on Hybrid Systems:
Computation and Control (HSCC 2013)*, Philadelphia, PA, Apr 2013, pp. 11-19.

↓Abstract
See also
the slides of the talk.

Small-gain theorems of LaSalle type for hybrid systems (with D. Nesic and A. R. Teel),
in Proceedings of
the *51st IEEE Conference on Decision and
Control*, Maui, HI, Dec 2012, pp. 6825-6830.

↓Abstract
See also
the slides of the talk.

Stabilizing a switched linear system by sampled-data quantized feedback,
in Proceedings of the *50th IEEE Conference
on Decision and Control and European Control Conference*, Orlando, FL, Dec 2011, pp. 8321-8326.

↓Abstract
See also
the slides of the talk.

Commutativity and asymptotic stability for linear switched DAEs
(with S. Trenn and F. Wirth), in Proceedings of the *50th IEEE Conference
on Decision and Control and European Control Conference*, Orlando, FL, Dec 2011, pp. 417-422.

↓Abstract

Robust invertibility of switched linear systems
(with A. Tanwani), in Proceedings of the *50th IEEE Conference
on Decision and Control and European Control Conference*, Orlando, FL, Dec 2011, pp. 441-446.

↓Abstract

Observability implies observer design for switched linear systems
(with A. Tanwani and H. Shim), in Proceedings of the *14th ACM International Conference
on Hybrid Systems: Computation and Control*, Chicago, IL, Apr 2011, pp. 3-12.

↓Abstract
Erratum

Towards robust Lie-algebraic stability conditions for
switched linear
systems
(with A. A. Agrachev and Y. Baryshnikov), in Proceedings of the *49th IEEE Conference on Decision and
Control*, Atlanta, GA, Dec 2010, pp. 408-413.

↓Abstract
See also
the slides of the talk.

State-norm
estimators for switched nonlinear systems under average
dwell-time
(with M.
Müller), in Proceedings of the *49th IEEE Conference on Decision and
Control*, Atlanta, GA, Dec 2010, pp. 1275-1280.

↓Abstract
See also a more
complete version.

Input/output-to-state stability of switched nonlinear systems (with M.
Müller), in Proceedings of the *American Control Conference*, Baltimore, MD, Jul
2010, pp. 1708-1712.

↓Abstract

On stability of linear switched differential algebraic equations (with S.
Trenn),
in Proceedings of the *48th IEEE Conference on Decision and
Control*, Shanghai, China, Dec 2009, pp. 2156-2161.

↓Abstract

On new sufficient conditions for stability of switched linear
systems,
in Proceedings of the *2009 European Control Conference*, Budapest,
Hungary, Aug 2009, pp. 3257-3262.

↓Abstract
See also
the slides of the talk.

Invertibility of nonlinear switched systems
(with A. Tanwani),
in Proceedings of the *47th IEEE Conference on Decision and
Control*, Cancun,
Mexico,
Dec 2008, pp. 286-291.

↓Abstract
See also a more
complete version.

Towards ISS disturbance attenuation for randomly switched systems (with D. Chatterjee), in
Proceedings of the *46th IEEE Conference on Decision and Control*, New Orleans,
LA,
Dec 2007, pp. 5612-5617.

↓Abstract

Stability of interconnected switched systems
and adaptive control of time-varying plants (with L. Vu), in
Proceedings of the *46th IEEE Conference on Decision and Control*, New Orleans,
LA,
Dec 2007, pp. 4021-4026.

↓Abstract

On invertibility of switched linear systems (with L.
Vu),
in Proceedings of the
*45th IEEE Conference on Decision and
Control*, San Diego, CA, Dec 2006, pp. 4081-4086.

↓Abstract

Stability and stabilization of randomly switched systems (with D. Chatterjee),
in Proceedings of the
*45th IEEE Conference on Decision and
Control*, San Diego, CA, Dec 2006, pp. 2643-2648.

↓Abstract
See also a more
complete version.

ISS of switched systems and applications to switching adaptive
control (with L.
Vu and D. Chatterjee),
in
Proceedings of the *44th
IEEE Conference on Decision
and Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 120-125.

↓Abstract
See also
the slides of the
talk.

A small-gain approach to stability analysis of hybrid systems (with D. Nesic),
in Proceedings of the *44th IEEE Conference on Decision and
Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 5409-5414.

↓Abstract
See also
the slides of the talk.

A Lie-algebraic condition for stability of
switched nonlinear systems
(with M. Margaliot), in
Proceedings of the *43rd IEEE Conference on Decision and
Control*, Paradise Island, Bahamas,
Dec 2004, pp.
4619-4624.

↓Abstract
See also
the slides of the talk.

On stability of
stochastic switched systems
(with D. Chatterjee), in
Proceedings of the *43rd IEEE Conference on Decision and
Control*, Paradise Island, Bahamas,
Dec 2004, pp. 4125-4127.

↓Abstract
See also
the slides of the
talk.

Stability of hybrid automata with average dwell time: an invariant approach
(with S. Mitra), in
Proceedings of the *43rd IEEE Conference on Decision and
Control*, Paradise Island, Bahamas,
Dec 2004, pp. 1394-1399.

↓Abstract
See also
the slides of the talk.

Gradient algorithms for finding
common Lyapunov functions (with R. Tempo),
in Proceedings of the *42nd IEEE Conference on Decision and
Control*, Maui, HI, Dec 2003, pp. 4782-4787.

↓Abstract
See also
the slides of the
talk.

Nonlinear observability and an invariance principle for switched systems
(with J. P. Hespanha
and
E. D.
Sontag), in Proceedings of the *41st IEEE Conference on Decision and
Control*, Las Vegas, NV, Dec 2002, pp. 4300-4305.

↓Abstract
See also
the slides of the
talk.

A note on uniform global asymptotic stability of nonlinear
switched systems in triangular form (with D. Angeli),
in Proceedings of the *14th International Symposium on Mathematical
Theory of Networks and Systems (MTNS)*, Perpignan, France, Jun 2000.

↓Abstract

Lie-algebraic conditions for
exponential stability of switched systems
(with A. A. Agrachev), in
Proceedings of the *38th
IEEE Conference on Decision and Control*, Phoenix, AZ, Dec 1999, pp. 2679-2684.

↓Abstract
See also
the slides of the talk.

ISS and integral-ISS
disturbance attenuation with bounded controls,
in Proceedings of the
*38th IEEE Conference on Decision and Control*, Phoenix, AZ, Dec
1999, pp. 2501-2506.

↓Abstract
See also
the slides of the talk.

Stabilizing a linear system with finite-state
hybrid output feedback, in Proceedings of
the *7th IEEE Mediterranean
Conference on Control and Automation*, Haifa, Israel, Jun 1999,
pp. 176-183.

↓Abstract
See also
the slides of the talk.

Entropy and minimal bit rates for state estimation and model detection (with S. Mitra),
*IEEE Transactions on Automatic Control*, to appear.

↓Abstract

Feedback stabilization of a switched linear system with
unknown disturbances under data-rate constraints (with G. Yang),
*IEEE Transactions on Automatic Control*, to appear.

↓Abstract

Robustness of Pecora-Carroll synchronization under communication constraints (with B. Andrievsky and A. L. Fradkov),
*Systems and Control Letters*, to appear.

↓Abstract

Control with minimal cost-per-symbol encoding and quasi-optimality of event-based encoders (with J.
Pearson and J. P. Hespanha),
*IEEE Transactions on Automatic Control*, vol. 62, no. 5, pp. 2286-2301, May 2017.

↓Abstract
See also a more complete technical report.

Energy control of a pendulum with quantized feedback (with R. Seifullaev and A. L. Fradkov),
*Automatica*, vol. 67, pp. 171–177, May 2016.

↓Abstract

Adaptive control of passifiable linear systems with
quantized measurements and bounded disturbances (with A. Selivanov and A. L. Fradkov),
*Systems and Control Letters*, vol. 88, pp. 62-67, Feb 2016.

↓Abstract

Nonlinear observers robust to measurement disturbances in an ISS sense (with H. Shim),
*IEEE Transactions on Automatic Control*, vol. 61, no. 1, pp. 48-61, Jan 2016.

↓Abstract

Compensation of disturbances for MIMO systems with quantized
output (with I. Furtat and A. L. Fradkov),
*Automatica*, vol. 60, pp. 239-244, Oct 2015.

↓Abstract

Lyapunov-based small-gain theorems for hybrid systems (with D. Nesic and A. R. Teel),
*IEEE Transactions on Automatic Control*, vol. 59, no. 6, pp. 1395-1410, Jun 2014.

↓Abstract

Finite data-rate feedback stabilization of
switched and hybrid linear systems,
*Automatica*, vol. 50, no. 2, pp. 409-420, Feb 2014.

↓Abstract

Supervisory control of uncertain systems with quantized information
(with L. Vu), *International Journal of Adaptive Control and Signal Processing
* (special issue on recent trends on the use of switching and mixing in adaptive control),
vol. 26, no. 8, pp. 739–756, Aug 2012.

↓Abstract

Input-to-state stabilizing controller for systems with coarse quantization
(with Y. Sharon), *IEEE Transactions on Automatic Control*,
vol. 57, no. 4, pp. 830-844, Apr 2012.

↓Abstract

Rendezvous without coordinates
(with J. Yu and S. LaValle), *IEEE Transactions on Automatic Control*,
vol. 57, no. 2, pp. 421-434,
Feb 2012.

↓Abstract

A unified framework for design and analysis of networked and quantized
control systems (with D. Nesic),
*IEEE Transactions on Automatic Control*, vol. 54, no. 4, pp. 732-747,
Apr 2009.

↓Abstract

Nonlinear control with
limited information, *Communications in Information and
Systems* (Roger Brockett Legacy special issue), vol. 9, pp. 41-58, 2009.

↓Abstract

Input-to-state stabilization of linear systems
with quantized state measurements (with D. Nesic),
*IEEE Transactions on Automatic Control*, vol. 52, no. 5, pp. 767-781, May
2007.

↓Abstract

Quantization, time delays, and nonlinear stabilization,
*IEEE Transactions on Automatic Control*, vol. 51, no. 7, pp.
1190-1195, Jul 2006.

↓Abstract

Quantized control via locational optimization (with
F. Bullo),
*IEEE Transactions on Automatic
Control*, vol. 51, no. 1, pp. 2-13, Jan 2006.

↓Abstract

Stabilization of nonlinear
systems with limited information feedback (with J. P. Hespanha),
*IEEE Transactions on Automatic
Control*, vol. 50, no. 6, pp. 910-915, Jun 2005.

↓Abstract

Hybrid feedback stabilization of systems
with quantized signals, *Automatica*, vol. 39, no. 9, pp. 1543-1554,
Sep 2003.

↓Abstract

On stabilization of linear systems
with limited information,
*IEEE Transactions on Automatic
Control*, vol. 48, no. 2, pp. 304-307, Feb 2003.

↓Abstract

Quantized feedback stabilization of linear systems
(with R. W.
Brockett), *IEEE Transactions on Automatic
Control*, vol. 45, no. 7, pp. 1279-1289,
Jul 2000.

↓Abstract
See also
the slides of the talk given at the 4th
SIAM
Conference on Control and its Applications, Jacksonville, FL, May 1998.

Input-to-state stabilization with quantized output feedback
(with Y. Sharon),
in Proceedings of the *11th International Workshop
on Hybrid Systems: Computation and Control*, St. Louis, MO, Apr 2008,
*Lecture Notes
in
Computer Science*, vol. 4981 (M.
Egerstedt and B. Mishra, Eds.),
Springer, Berlin, pp. 500-513.

↓Abstract

Stability analysis of hybrid systems via small-gain theorems (with D. Nesic),
in Proceedings of the *Ninth International Workshop on Hybrid Systems:
Computation and Control*, Santa Barbara, CA, Mar 2006, *Lecture Notes
in
Computer Science*, vol. 3927 (J. Hespanha and A. Tiwari, Eds.),
Springer, Berlin, pp.
421-435.

↓Abstract

On quantization and delay effects in nonlinear control
systems, in Proceedings of the *Workshop on Networked Embedded
Sensing and Control*, University of Notre Dame, South Bend, IN,
Oct 2005, * Lecture Notes in Control and Information Sciences*,
vol. 331 (P. J. Antsaklis and P. Tabuada, Eds.), Springer, Berlin,
pp. 219-229.

↓Abstract
See also
the slides of the talk.

Nonlinear stabilization by hybrid quantized feedback,
in Proceedings of the *Third International Workshop on Hybrid Systems:
Computation and Control*, Pittsburgh, PA, Mar 2000, *Lecture Notes
in
Computer Science*, vol. 1790 (N. Lynch and B. H. Krogh, Eds.),
Springer, Berlin, pp.
243-257.

↓Abstract
See also
the slides of the talk.

↓Abstract See also the slides of the talk.

Finite data-rate stabilization of a switched linear system with unknown disturbance (with G. Yang), in Proceedings of the 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016), Monterey, CA, Aug 2016, pp. 1103-1108.

↓Abstract

Entropy and minimal data rates for state
estimation and model detection (with S. Mitra), in Proceedings of
the *19th ACM International Conference on
Hybrid Systems: Computation and Control*
(HSCC 2016),
Vienna, Austria, Apr 2016, pp. 247-256.

↓Abstract

Quasi-optimality of event-based encoders (with J. Pearson and J. P. Hespanha), in Proceedings of
the *54th IEEE Conference on Decision and
Control*, Osaka, Japan, Dec 2015, pp. 4800-4805.

↓Abstract

Stabilizing a switched linear system with disturbance by sampled-data quantized feedback (with G. Yang), in Proceedings of
the *American Control
Conference*, Chicago, IL, Jul 2015, pp. 2193-2198.

↓Abstract

Control with minimum communication cost per symbol (with J. Pearson and J. P. Hespanha), in Proceedings of
the *53rd IEEE Conference on Decision and
Control*, Los Angeles, CA, Dec 2014, pp. 6050-6055.

↓Abstract

Cyclic pursuit without coordinates: convergence to regular polygon formations (with M. Arnold and Y. Baryshnikov), in Proceedings of
the *53rd IEEE Conference on Decision and
Control*, Los Angeles, CA, Dec 2014, pp. 6191-6196.

↓Abstract
See also
the slides of the talk.

Passification-based adaptive control with quantized measurements (with A. Selivanov and A. L. Fradkov),
in Proceedings
of the *19th IFAC World Congress*, Cape Town, South Africa, Aug 2014.

↓Abstract

Robust control with compensation of disturbances for systems with quantized output (with I. Furtat and A. L. Fradkov),
in Proceedings
of the *19th IFAC World Congress*, Cape Town, South Africa, Aug 2014.

↓Abstract

Limited-information control of hybrid systems via reachable set propagation,
in Proceedings of the *16th ACM International Conference on Hybrid Systems:
Computation and Control (HSCC 2013)*, Philadelphia, PA, Apr 2013, pp. 11-19.

↓Abstract
See also
the slides of the talk.

Small-gain theorems of LaSalle type for hybrid systems (with D. Nesic and A. R. Teel),
in Proceedings of
the *51st IEEE Conference on Decision and
Control*, Maui, HI, Dec 2012, pp. 6825-6830.

↓Abstract
See also
the slides of the talk.

Stabilizing a switched linear system by sampled-data quantized feedback,
in Proceedings of the *50th IEEE Conference
on Decision and Control and European Control Conference*, Orlando, FL, Dec 2011, pp. 8321-8326.

↓Abstract
See also
the slides of the talk.

Adaptive control using quantized measurements with application to vision-only landing control (with Y. Sharon
and Y. Ma), in Proceedings of the *49th IEEE Conference on Decision and
Control*, Atlanta, GA, Dec 2010, pp. 2511-2516.

↓Abstract

Stabilization of linear systems under coarse quantization and time delays (with Y. Sharon), in
Proceedings of the *2nd IFAC Workshop on
Distributed Estimation and Control in Networked Systems (NecSys)*, Annecy, France, Sep 2010, pp. 31-36.

↓Abstract
See also
the poster.

Quasi-ISS reduced-order observers and quantized output feedback (with H.
Shim and J.-S. Kim),
in Proceedings of the *48th IEEE Conference on Decision and
Control*, Shanghai, China, Dec 2009, pp. 6680-6685.

↓Abstract
See also
the slides of the talk.

Rendezvous without coordinates
(with J. Yu and S. LaValle),
in Proceedings of the *47th IEEE Conference on Decision and
Control*, Cancun,
Mexico,
Dec 2008, pp. 1803-1808.

↓Abstract
See also a more
complete version.

Stabilizing uncertain systems with dynamic quantization (with L. Vu), in
Proceedings of the *47th IEEE Conference on Decision and Control*, Cancun,
Mexico, Dec 2008, pp. 4681-4686.

↓Abstract
See also a more
complete version.

Observer-based
quantized output feedback control of nonlinear systems, in
Proceedings
of the *17th IFAC World Congress*, Seoul, Korea, Jul 2008, pp.
8039-8043.

↓Abstract
See also
the slides
of the
talk.

Input-to-state stabilization with minimum number of quantization regions
(with Y. Sharon),
in Proceedings of the *46th IEEE Conference on Decision and
Control*, New Orleans,
LA,
Dec 2007, pp. 20-25.

↓Abstract

A unified approach to controller design for systems with
quantization and time scheduling (with D. Nesic),
in Proceedings of the *46th IEEE Conference on Decision and
Control*, New Orleans,
LA,
Dec 2007, pp. 3939-3944.

↓Abstract

Observer-based
quantized output feedback control of nonlinear systems, in Proceedings
of the *15th Mediterranean Conference on Control and Automation*, Athens,
Greece, Jun 2007.

↓Abstract
See also
the slides
of the
talk.

Input-to-state stabilization of linear systems
with quantized feedback (with D. Nesic),
in Proceedings of the *44th IEEE Conference on Decision and
Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 8197-8202.

↓Abstract
See also a more
complete version.

A small-gain approach to stability analysis of hybrid systems (with D. Nesic),
in Proceedings of the *44th IEEE Conference on Decision and
Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 5409-5414.

↓Abstract
See also
the slides of the
talk.

Stabilizing a nonlinear system
with limited information feedback,
in Proceedings of the *42nd IEEE Conference on Decision and
Control*, Maui, HI, Dec 2003, pp. 182-186.

↓Abstract
Also presented at the *1st International Symposium on
Control, Communications and Signal Processing*,
Hammamet, Tunisia, Mar 2004 (click here for extended abstract).

See also
the slides of the
talk.

On quantized control and geometric optimization (with
F. Bullo),
in Proceedings of the *42nd IEEE Conference on Decision and
Control*, Maui, HI, Dec 2003, pp. 2567-2572.

↓Abstract See also
the slides of the
talk.

A note on stabilization of linear systems using coding and limited communication,
in Proceedings of the *41st IEEE Conference on Decision and
Control*, Las Vegas, NV, Dec 2002, pp. 836-841.

↓Abstract
See also
the slides of the
talk.

Stabilization by quantized state or output feedback:
a hybrid control approach, in
Proceedings of the *15th IFAC World Congress*, Barcelona, Spain,
Jul 2002 (IFAC Young Author
Prize paper).

↓Abstract
See also
the slides of the
talk.

A hybrid control framework for systems with quantization,
in Proceedings of the *40th IEEE Conference on Decision and
Control*, Orlando, FL,
Dec 2001, pp. 1217-1222.

↓Abstract
See also
the slides of the talk.

Adaptive control of passifiable linear systems with
quantized measurements and bounded disturbances (with A. Selivanov and A. L. Fradkov),
*Systems and Control Letters*, vol. 88, pp. 62-67, Feb 2016.

↓Abstract

The bang-bang funnel controller for uncertain nonlinear systems with arbitrary relative degree (with S. Trenn),
*IEEE Transactions on Automatic Control*, vol. 58, no. 12, pp. 3126-3141, Dec 2013.

↓Abstract

Supervisory control of uncertain systems with quantized information
(with L. Vu), *International Journal of Adaptive Control and Signal Processing
* (special issue on recent trends on the use of switching and mixing in adaptive control),
vol. 26, no. 8, pp. 739–756, Aug 2012.

↓Abstract

Supervisory control of uncertain linear time-varying systems (with L. Vu), *IEEE
Transactions
on Automatic Control*,
vol. 56, no. 1, pp. 27-42, Jan 2011.

↓Abstract

Input-to-state stability of switched systems and switching adaptive
control
(with L.
Vu and D. Chatterjee),
*Automatica*,
vol. 43, no. 4, pp. 639-646, Apr 2007.

↓Abstract

Overcoming the
limitations of adaptive control by means of logic-based switching (with
J. P. Hespanha and
A. S. Morse),
*Systems and Control Letters*, vol. 49, no. 1, pp. 49-65, May 2003.

↓Abstract

Hysteresis-based switching algorithms for
supervisory control of
uncertain systems
(with
J. P. Hespanha and
A. S. Morse),
* Automatica*, vol. 39, no. 2, pp. 263-272, Feb 2003.

↓Abstract

Supervision of integral-input-to-state stabilizing
controllers
(with
J. P. Hespanha and
A. S. Morse),
* Automatica*, vol. 38, no. 8, pp. 1327-1335, Aug 2002.

↓Abstract

Output-input stability and minimum-phase nonlinear
systems
(with A. S. Morse
and E. D.
Sontag),
*IEEE Transactions on Automatic
Control*, vol. 47, no. 3, pp. 422-436, Mar 2002.

↓Abstract

Multiple model adaptive control with safe
switching
(with B. D. O.
Anderson, T. S. Brinsmead,
and
A. S.
Morse),
*International Journal of Adaptive Control and Signal Processing*
(invited
paper), vol. 15, pp. 445-470, 2001.

↓Abstract

Multiple model adaptive control, part 2:
Switching
(with B. D. O.
Anderson, T. S. Brinsmead, F. De Bruyne, J. P. Hespanha, and
A. S. Morse),
*International Journal on Robust and Nonlinear Control*
(invited
paper), vol. 11, pp. 479-496, 2001.

↓Abstract

Multiple model adaptive control, part 1:
Finite controller coverings
(with B. D. O.
Anderson, T. S. Brinsmead, F. De Bruyne, J. P. Hespanha, and
A. S. Morse),
*International Journal on Robust and Nonlinear Control* (invited
paper), vol. 10, pp. 909-929,
2000.

↓Abstract

Logic-based switching control of a nonholonomic
system with parametric modeling uncertainty (with
J. P. Hespanha and
A. S. Morse), *Systems and Control Letters* (special
issue
on hybrid systems), vol. 38, no. 3, pp. 167-177, Nov 1999.

↓Abstract
See also a
parking movie.

Distributed linear supervisory control (with A. Khanafer and T. Basar), in Proceedings of
the *53rd IEEE Conference on Decision and
Control*, Los Angeles, CA, Dec 2014, pp. 1458-1463.

↓Abstract

Passification-based adaptive control with quantized measurements (with A. Selivanov and A. L. Fradkov),
in Proceedings
of the *19th IFAC World Congress*, Cape Town, South Africa, Aug 2014.

↓Abstract

Robust control with compensation of disturbances for systems with quantized output (with I. Furtat and A. L. Fradkov),
in Proceedings
of the *19th IFAC World Congress*, Cape Town, South Africa, Aug 2014.

↓Abstract

The bang-bang funnel controller: time delays and case study (with S. Trenn), in Proceedings of
the *2013 European Control Conference*, Zurich, Switzerland, Jul 2013, pp. 1669-1674.

↓Abstract

The bang-bang funnel controller (with S. Trenn), in Proceedings of
the *49th IEEE Conference on Decision and
Control*, Atlanta, GA, Dec 2010, pp. 690-695.

↓Abstract
See also a more
complete version.

Adaptive control using quantized measurements with application to vision-only landing control (with Y. Sharon
and Y. Ma), in Proceedings of the *49th IEEE Conference on Decision and
Control*, Atlanta, GA, Dec 2010, pp. 2511-2516.

↓Abstract

Stabilizing uncertain systems with dynamic quantization (with L. Vu), in
Proceedings of the *47th IEEE Conference on Decision and Control*, Cancun,
Mexico, Dec 2008, pp. 4681-4686.

↓Abstract
See also a more
complete version.

Stability of interconnected switched systems
and adaptive control of time-varying plants (with L. Vu), in
Proceedings of the *46th IEEE Conference on Decision and Control*, New Orleans,
LA,
Dec 2007, pp. 4021-4026.

↓Abstract

ISS of switched systems and applications to switching adaptive
control (with L.
Vu and D. Chatterjee),
in
Proceedings of the *44th
IEEE Conference on Decision
and Control and European Control Conference*, Seville, Spain, Dec 2005, pp. 120-125.

↓Abstract See also
the slides of the
talk.

Hierarchical hysteresis switching (with J. P. Hespanha
and A. S. Morse),
in Proceedings of the *39th IEEE Conference on Decision and
Control*, Sydney, Australia,
Dec 2000, pp. 484-489.

↓Abstract
See also
the slides of the talk.

Bounds on the number of switchings with scale-independent hysteresis:
applications to supervisory control
(with J. P. Hespanha
and A. S. Morse),
in Proceedings of the *39th IEEE Conference on Decision and
Control*, Sydney, Australia,
Dec 2000, pp. 3622-3627.

↓Abstract

A new definition of the minimum-phase property
for nonlinear systems, with an application to adaptive control
(with A. S. Morse
and E. D.
Sontag), in Proceedings of the *39th IEEE Conference on Decision and
Control*, Sydney, Australia, Dec
2000, pp. 2106-2111.

↓Abstract See also
the slides of the talk

Towards the supervisory
control of uncertain nonholonomic systems (with
J. P. Hespanha and
A. S. Morse), in Proceedings of
the *1999
American Control Conference*, San Diego, CA, Jun
1999, pp. 3520-3524.

↓Abstract See also
the slides of the talk.

Stabilizing randomly switched systems
(with D. Chatterjee),
SIAM Journal on Control and Optimization, vol. 49, no. 5, pp. 2008-2031, 2011.

↓Abstract

On stability of randomly switched nonlinear systems
(with D. Chatterjee),
*IEEE Transactions on Automatic Control*,
vol. 52, no. 12, pp. 2390-2394, Dec 2007.

↓Abstract

Stability analysis of deterministic and stochastic switched systems via
a comparison principle and multiple Lyapunov functions
(with D. Chatterjee),
*SIAM Journal on Control and Optimization*,
vol. 45, no. 1, pp. 174-206, 2006.

↓Abstract

Nonlinear feedback systems perturbed by noise:
steady-state probability distributions and optimal control
(with R. W.
Brockett),
*IEEE Transactions on Automatic
Control*, vol. 45, no. 6, pp. 1116-1130, Jun 2000.

↓Abstract

Spectral analysis of Fokker-Planck and related operators
arising from linear stochastic differential equations
(with R. W.
Brockett), * SIAM Journal on Control and
Optimization*, vol. 38, no. 5, pp. 1453-1467, May 2000.

↓Abstract

Towards ISS disturbance attenuation for randomly switched systems (with D. Chatterjee), in
Proceedings of the *46th IEEE Conference on Decision and Control*, New Orleans,
LA,
Dec 2007, pp. 5612-5617.

↓Abstract

Stability and stabilization of
randomly switched systems (with D. Chatterjee), in
Proceedings of
the *45th IEEE Conference on Decision and Control*, San Diego, CA, Dec 2006,
pp. 2643-2648.

↓Abstract
See
also a more
complete version.

On stability of
stochastic switched systems
(with D. Chatterjee),
in
Proceedings of the *43rd IEEE Conference on Decision and
Control*, Paradise Island, Bahamas,
Dec 2004, pp. 4125-4127.

↓Abstract
See also
the slides of the talk.

Quantized feedback systems perturbed by white
noise (with R. W. Brockett),
in Proceedings of the *37th IEEE Conference on Decision and Control*, Tampa,
FL, Dec 1998, pp. 1327-1328.

↓Abstract
See also
the slides of the talk.

On explicit steady-state solutions of Fokker-Planck
equations for a class of nonlinear feedback systems
(with R. W.
Brockett), in Proceedings of the
*1998 American Control Conference*,
Philadelphia, PA, Jun 1998, pp. 264-268.

↓Abstract See also
the slides of the talk.

**Letter:** Leaving a lasting mark, IEEE Control Systems Magazine, vol. 35, no. 2, pp. 19-20, Apr 2015.

**Interview:** People in
Control, IEEE Control Systems Magazine, vol. 27, no. 6, pp. 40-42, Dec 2007.

**Book review:**
Liapunov Functions and Stability in Control
Theory, 2nd edition by
A. Bacciotti and L. Rosier,
*Automatica*,
vol. 41, no. 12, pp. 2183-2184, Dec 2005.

**Book review:**
Hybrid Dynamical Systems: Controller and Sensor Switching Problems by
A. V. Savkin and R. J. Evans,
*International Journal of Hybrid Systems*, vol. 4, pp. 161-164, Mar/Jun
2004.

**Book review:**
Qualitative Theory of Hybrid Dynamical Systems by
A. S. Matveev and A. V. Savkin,
*Automatica*, vol. 39, no. 2, pp. 368-369, Feb 2003.

**Editorial:**
Switching and Logic in Adaptive Control, special issue
of the *International Journal of Adaptive Control and Signal
Processing* (edited by J. P. Hespanha and D. Liberzon),
vol. 15, no. 3, 2001. Editorial.

**Thesis:**
Asymptotic Properties of Nonlinear Feedback
Control
Systems, Ph.D. Thesis, Department of Mathematics,
Brandeis University, Waltham, MA, Feb 1998.

↓Abstract

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