**PhD
Dissertation**

**Guest Editor**

Special Issue on Structural Modeling and System Identification of Flexible Space Structures

Special Issue on Robotics in Space

Special Issue on nD Systems and Iterative Learning Control, Vol. 13, No. 1, 2003,

**Book Editor**

**Contributions to Edited Books**

Chapter
1: *Kinematic
and Dynamic Properties of an Elbow Manipulator Mounted on a Satellite*,
R.
E. Lindberg, R. W. Longman, and M. F. Zedd, pp. 1-25.

Chapter 2:*The Kinetics and
Workspace of a Satellite-Mounted Robot*, R. W.
Longman, pp. 27-44. Reprint of a journal paper.

Chapter 2:

R. W. Longman, “Designing Iterative Learning and Repetitive Controllers,” chapter in

R. W. Longman, “Tutorial Overview of the Dynamics and Control of Satellite-Mounted Robots,” Chapter 10,

J.-N. Juang, L. G. Horta, and R. W. Longman, “Input/Output System Identification: Learning from Repeated Experiments,” Chapter 5 of

H. G. Bock, R. W. Longman, J. P. Schloeder, and M. Winckler, “Synthesis of Automotive Cams using Multiple Shooting - SQP Methods for Constrained Optimization,”

**Commissioned Survey Paper
(AIAA) on
Modeling, Identification, and Control of Large Flexible Spacecraft**

**Journal and Conference Papers**

R. W. Longman, “The Equilibria of Orbiting Gyrostats with Internal Angular Momenta along Principal Axes,”

R. W. Longman and A. M. Schneider, “Use of Jupiter's Moons for Gravity Assist,” AIAA

R. W. Longman, “Gravity-Gradient Stabilization of Gyrostat Satellites with Rotor Axes in Principal Planes,”

R. W. Longman, “Stability Analysis of All Possible Equilibria for Gyrostat Satellites under Gravitational Torques,”

R. W. Longman, “Short Term Bounds for the Effect of Oblateness on Ballistic Trajectories,”

R. W. Longman, “On the Relationship between Liapunov Stability and Stability under Persistent Disturbances for Lifting Rigs,”

R. W. Longman, “Stable Tumbling Motions of a Dual-Spin Satellite Subject to Gravitational Torques,”

M. K. Özgören, R. W. Longman and C. A. Cooper, “Stochastic Optimal Control of Artificial River Aeration,”

R. W. Longman, “Attitude Equilibria and Stability of Arbitrary Gyrostat Satellites under Gravitational Torques,”

R. W. Longman and F. Freudenstein, “Stability Analysis of Lifting Rigs. Part I: Necessary and Sufficient Conditions,” ASME Transactions,

R. W. Longman and F. Freudenstein, “Stability Analysis of Lifting Rigs. Part II: Sufficient Stability Criteria and Design Guidelines,” ASME Transactions,

M. K. Özgören, R. W. Longman and C. A. Cooper, “Optimal Control of a Distributed Parameter, Time-Lagged River Aeration System,” ASME Transactions,

M. K. Özgören, R. W. Longman and C. A. Cooper, “Application of Lie Transform Based Canonical Perturbation Methods to the Optimal Control of Bilinear Systems,”

R. W. Longman and J. V. Fedor, “Dynamics of Flexible Spinning Satellites with Radial Wire Antennas,”

M. K. Özgören and R. W. Longman, “Advances in the Use of Lie Transform Based Canonical Perturbation Methods for Computerized Derivation of Feedback Control Laws,”

C. A. Cooper and R. W. Longman, “On the Optimal Allocation of Costly Observations in the Control of Stochastic Systems,”

N. M. Olgac, C. A. Cooper and R. W. Longman, “Optimal Allocation of Measurement and Control Resources with Application to River Depollution,”

N. M. Olgac, C. A. Cooper and R. W. Longman, “Time Lagged Stochastic Control Problems with Observation Cost,”

N. M. Olgac, C. A. Cooper and R. W. Longman, “Optimal Control of Artificial Aeration in River Networks,”

M. K. Özgören, C. A. Cooper and R. W. Longman, “Optimal Control of a Partially Time Lagged River Aeration System Subject to Random Disturbances,” ASME Transactions,

C. N. Viswanathan, R. W. Longman and G. A. Domoto, “Energy Conservation in Subway Systems by Controlled Acceleration and Deceleration,”

M. K. Özgören, R. W. Longman and C. A. Cooper, “Probabilistic Inequality Constraints in Stochastic Optimal Control Theory,”

C. N. Viswanathan, R. W. Longman and P. W. Likins, “A Definition of the Degree of Controllability - A Criterion for Actuator Placement,”

K. T. Alfriend, R. W. Longman and W. Bercaw, “On Frequency Response Interpretations of Optimal Slewing Maneuvers, “

R. W. Longman and K. T. Alfriend, “Optimal Control of Large Angle Attitude Maneuvers for Flexible Spacecraft,”

R. W. Longman, “Annihilation or Suppression of Control and Observation Spillover in the Optimal Shape Control of Flexible Spacecraft,”

K. T. Alfriend and R. W. Longman, “Rotational Maneuvers of Large Flexible Spacecraft,”

N. M. Olgac, C. A. Cooper and R. W. Longman, “Alternative Choices in Measurement Systems for Artificial River Aeration,”

R. W. Longman, “Mathematical Challenges in the Control of Future Very Large Space Vehicles,”

R. W. Longman and K. T. Alfriend, “Improved Spillover Suppression Criteria in the Optimal Control of Large Flexible Spacecraft,”

H. G. Bock and R. W. Longman, “Optimal Control of Velocity Profiles for Minimization of Energy Consumption in the New York Subway System,”

R. W. Longman and J. A. Massart, “An Investigation of the Anomalous Attitude Motion of the ISEE-B Spacecraft,”

R. A. Laskin, R. W. Longman and P. W. Likins, “A Definition of the Degree of Controllability for Fuel-Optimal Systems,”

G. Sevaston and R. W. Longman, “Optimal Positive Real Controllers for Large Space Structures,”

R. W. Longman and K. T. Alfriend, “Actuator Placement from Degree of Controllability Criteria for Regular Slewing of Flexible Spacecraft,”

R. E. Lindberg and R. W. Longman, “Aspects of the Degree of Controllability - Applications to Simple Systems,”

R. Longman, P. Hagedorn and A. Beck, “Stabilization due to Gyroscopic Coupling in Dual-Spin Satellites Subject to Gravitational Torques,”

Z. T. Zhu, R. W. Longman and C. A. Cooper, “Optimal Observation and Control Strategies for Stochastic Differential Games with Costly Observations,”

G. E. Sevaston and R. W. Longman, “Constructive Design of Robust Optimal Regulators,”

S. W. Sirlin and R. W. Longman, “Control of Systems Governed by Integro-Differential Equations with Application to Floating Structures and Viscoelastic Material Dynamics,”

Z. T. Zhu, R. W. Longman and C. A. Cooper, “Probabilistic Observation Strategies in Stochastic Differential Games with Costly Measurements,”

R. E. Lindberg Jr. and R. W. Longman, “Optimization of Actuator Placement via Degree of Controllability Criteria Including Spillover Considerations,” AIAA/AAS Astrodynamics Conference, San Diego, California, Paper No. AIAA-82-1435, August, 1982.

R. W. Longman, S. W. Sirlin, T. Li and G. Sevaston, “The Fundamental Structure of Degree of Controllability and Degree of Observability,” AIAA/AAS Astrodynamics Conference, San Diego, California, Paper No. AIAA-82-1434, August 1982.

R. A. Laskin, R. W. Longman and P. W. Likins, “A Definition of the Degree of Disturbance Rejection,” AIAA/AAS Astrodynamics Conference, San Diego, California, Paper No. AIAA-82-1466, August 1982.

Z. T. Zhu and R. W. Longman, “Probabilistic Observation Strategies for Simultaneous Differential Games with Observation Cost,”

R. A. Laskin, R. W. Longman and P. W. Likins, “Actuator Placement in Modal Systems Using Fuel Optimal Degree of Controllability Concepts,”

Y. G. Zhang and R. W. Longman, “A Method for Simultaneous Estimation of Noise Covariances and Plant Identification,”

T. Li and R. W. Longman, “Stability Relationships Between Gyrostats with Free, Constant-Speed, and Speed-Controlled Rotors,”

G. Klein, R. E. Lindberg Jr. and R. W. Longman, “Computation of a Degree of Controllability via System Discretization,”

P. T. Kabamba and R. W. Longman, “Exact Pole Assignment Using Direct or Dynamic Output Feedback,”

N. M. Olgac, R. W. Longman and C. A. Cooper, “Stochastic Artificial Aeration Control for Regional Drainage Basins,” ASME Transactions,

R. W. Longman and C. A. Cooper, “Optimal Selection of Observation Times in the Linear Quadratic Gaussian Control Problem,”

R. E. Lindberg Jr. and R. W. Longman, “On the Dynamic Behavior of the Wobblestone,”

C. N. Viswanathan, R. W. Longman and P. W. Likins, “A Degree of Controllability Definition: Fundamental Concepts and Application to Modal Systems,”

M. Chew, F. Freudenstein and R. W. Longman, “Application of Optimal Control Theory to the Synthesis of High-Speed Cam-Follower Systems. Part I: Optimality Criterion,” ASME Transactions,

M. Chew, F. Freudenstein, and R. W. Longman, “Application of Optimal Control Theory to the Synthesis of High-Speed Cam-Follower Systems. Part II: System Optimization,” ASME Transactions,

C. N. Viswanathan, and R. W. Longman, “The Determination of the Degree of Controllability for Dynamic Systems with Repeated Eigenvalues,”

R. A. Laskin, P. W. Likins and R. W. Longman, “Dynamical Equations of a Free-Free Beam Subject to Large Overall Motions,”

H. G. Bock and R. W. Longman, “Computation of Optimal Controls on Disjoint Control Sets for Minimum Energy Subway Operation,”

M. D. Earle and R. W. Longman, “An Analysis of Short Pendulum Heave Sensors,” Marine Technology Society/National Oceanographic and Atmospheric Administration Data Buoy Center,

S. W. Sirlin, R. W. Longman and J. N. Juang, “Identification of General Linear Mechanical Systems,”

S. W. Sirlin, R. W. Longman and M. Shinozuka, “Active Control of Floating Structures,”

P. T. Kabamba and R. W. Longman, “An Integrated Approach to Reduced-Order Control Theory,”

R. E. Lindberg Jr. and R. W. Longman, “The Influence of Time and Normalization on Actuator Placement by Degree of Controllability,”

S. W. Sirlin and R. W. Longman, “Fuzzy Concepts of the Degree of Controllability and Degree of Observability,”

R. E. Lindberg Jr. and R. W. Longman, “On the Number and Placement of Actuators for Independent Modal Space Control,”

T. Li and R. W. Longman, “Optimal Configurations for Dual-Spin Satellites Subject to Gravitational Torques,”

F. Freudenstein, C.-K. Chen and R. W. Longman, “Kinematic Analysis of Robotic Bevel Gear Trains,” Transactions of the ASME,

Also: F. Freudenstein, R. W. Longman and C.-K. Chen,

J.-G. Sun, R. W. Longman and F. Freudenstein, “Determination of Appropriate Cost Functionals for Cam-Follower Design using Optimal Control Theory,”

M. K. Özgören and R. W. Longman, “Automated Derivation of Optimal Regulators for Nonlinear Systems by Symbolic Manipulation of Poisson Series,”

S. W. Sirlin, R. W. Longman and J. N. Juang, “Identifiability of Conservative Linear Mechanical Systems,”

N. M. Olgac, C. A. Cooper and R. W. Longman, “The Impact of Costly Observations and Observation Delay in Stochastic Optimal Control Problems,”

G. E. Sevaston, and R. W. Longman, “Gain Measures of Controllability and Observability,”

S. Sirlin, C. Paliou, R. W. Longman, M. Shinozuka and E. Samaras, “Active Control of Floating Structures,” Transactions of the ASCE,

G. E. Sevaston and R. W. Longman, “Systematic Design of Robust Control Systems using Small Gain Stability Concepts,”

R. W. Longman and R. E. Lindberg, “The Search for Appropriate Actuator Distribution Criteria in Large Space Structures Control,”

R. W. Longman and J. V. Fedor, “Dynamics During Thrust Maneuvers of Flexible Spinning Satellites with Axial and Radial Booms,”

Z.-q. Gu and R. W. Longman, “Design of Dynamic Output Feedback Controllers with Parameter Variation Insensitivity,”

R. W. Longman and Z.-q. Gu, “Pole Placement with Optimization,”

P. T. Kabamba, R. W. Longman and J.-G. Sun, “A Homotopy Approach to the Feedback Stabilization of Linear Systems,”

E. G. Harokopos and R. W. Longman, “A Learning Controller for Tracking Arbitrary Inputs in Robot Motions,”

R. W. Longman, R. E. Lindberg and M. F. Zedd, “Satellite-Mounted Robot Manipulators -- New Kinematics and Reaction Moment Compensation,”

R. W. Longman and J.-N. Juang, “A Variance Based Confidence Criterion for ERA Identified Modal Parameters,”

R. W. Longman, G. Klein, J. Luk, J. G. Sun, and L. P. Zhang, “A Study of Deadbeat Terminal Control for High Speed Low Vibration Robots,”

R. W. Longman, M. Bergmann and J.-N. Juang, “Variance and Bias Confidence Criteria for ERA Modal Parameter Identification,”

M. Phan and R. W. Longman, “A Mathematical Theory of Learning Control for Linear Discrete Multivariable Systems,”

X. Chen, R. W. Longman, and G. Klein, “An Algorithm for the Computation of the Time Optimal Degree of Controllability;”

M. Phan and R. W. Longman, “Liapunov Based Model Reference Learning Control,”

M. Phan and R. W. Longman, “Indirect Learning Control with Guaranteed Stability,”

J. Konzelmann, H. G. Bock, and R. W. Longman, “Time Optimal Trajectories of Polar Robot Manipulators by Direct Methods,”

M. Phan and R. W. Longman, “Learning System Identification,”

M. Phan and R. W. Longman, “A Model Reference Adaptive Control Method for a Class of Linear Discrete Systems,”

R. W. Longman, H. S. M. Beigi and C. J. Li, “Learning Control by Numerical Optimization Methods,”

M. Phan, Y. Wei, L. G. Horta, J.-N. Juang, and R. W. Longman, “Learning Control for Slewing of a Flexible Panel,”

R. W. Longman and L. G. Horta, “Actuator Placement by Degree of Controllability Including the Effect of Actuator Mass,”

J. Konzelmann, H. G. Bock, and R. W. Longman, “Time Optimal Trajectories of Elbow Robots by Direct Methods,”

M. Phan, R. W. Longman, and J-N. Juang, “Indirect Repetitive Control for Linear Discrete Multivariable Systems,”

R. W. Longman and J.-N. Juang, “Recursive Form of the Eigensystem Realization Algorithm for System Identification,”

R. H. Middleton, G. C. Goodwin, and R. W. Longman, “A Method for Improving the Dynamic Accuracy of a Robot Performing a Repetitive Task,”

R. W. Longman and K. T. Alfriend, “Energy Optimal Degree of Controllability and Observability for Regulator and Maneuver Problems,”

R. W. Longman, “Dynamics and Kinematics of Satellite-Mounted Robots,”

M. Bergmann, R. W. Longman, and J. N. Juang, “Variance and Bias Computation for Enhanced System Identification”,

J.-N. Juang, L. G. Horta, M. Phan, and R. W. Longman, “Learning System Identification for Flexible Structures,”

J. N. Juang, L. Horta, and R. W. Longman, “System Identification in the Repetition Domain,”

M. Phan, J.-N. Juang, and R. W. Longman, “Recent Developments in Learning Control and System Identification for Robots and Structures,”

R. W. Longman and C.-K. Chang, “Learning Control for Minimizing a Quadratic Cost during Repetitions of a Task,”

R. W. Longman and E. J. Solcz, “Small Gain Robustness Issues in the P-Integrator Repetitive Controller,”

M. Steinbach, H. G. Bock, and R. W. Longman, “Time Optimal Control of SCARA Robots,”

H. Elci, R. W. Longman, and M. Shoham, “Planar Three-Finger Manipulation of Objects with a Dextrous Robot Hand,”

M. Bergmann, R. W. Longman, and J.-N. Juang, “Optimization of Actuator and Sensor Placement for On-Orbit Identification in Large Flexible Spacecraft,”

B. C. Fabien, R. W. Longman, and F. Freudenstein, “Hyperstable Model-Following Control of an Electromagnetic Suspension,”

R. W. Longman, “Attitude Tumbling due to Flexibility in Satellite-Mounted Robots,”

R. W. Longman, “The Kinetics and Workspace of a Satellite-Mounted Robot,”

X. Chen and R. W. Longman, “Computation of the Fuel Optimal Degree of Controllability,”

X. Chen, R. W. Longman, and G. Klein, “Time Optimal Feedback Control of Discrete Systems with Bounded Inputs,”

R. E. Lindberg, R. W. Longman, and M. F. Zedd, “Kinematic and Dynamics Properties of an Elbow Manipulator Mounted on a Satellite,”

B. C. Fabien, R. W. Longman, and F. Freudenstein, “The Stability of Lifting Rigs with Offset Loads,”

M. Phan, J.-N. Juang, and R. W. Longman, “On Markov Parameters in System Identification,” Society for Experimental Mechanics,

R. W. Longman, J.-N. Juang, and M. Phan, “Input and Output Matrices in Modal Identification,” Society for Experimental Mechanics,

R. W. Longman, J.-S. Lew, D.-H. Tseng, and J.-N. Juang, “Variance and Bias Computation for Improved Modal Identification Using ERA/DC,”

M. Phan, L. G. Horta, J.-N. Juang, and R. W. Longman, “Identification of Observer/Kalman Filter Markov Parameters Using Limited Experimental Data,”

R. W. Longman, “New Problems in Space Flight Operations Introduced by Satellite Mounted Robots,” Keynote Lecture,

H. S. M. Beigi, C. J. Li, and R. W. Longman, “Learning Control Based on Generalized Secant Method and other Numerical Optimization Methods,” 1991 ASME Winter Annual Meeting, Atlanta, Georgia,

M. Phan, L. G. Horta, J.-N. Juang, and R. W. Longman,

C. K. Chang, R. W. Longman, and M. Phan, “Techniques for Improving Transients in Learning Control Systems,”

C. S. Lee, R.W. Longman and M. Phan, “Linear Decentralized Learning Control,”

E. Solcz and R. W. Longman, “Disturbance Rejection in Repetitive Controllers,”

M. Phan, J.-N. Juang, and R. W. Longman, “Identification of Linear Multivariable Systems by Identification of Observers with Assigned Real Eigenvalues,”

R. W. Longman, S. C. Lee, and M. Phan, “Indirect Decentralized Learning Control,”

E. J. Solcz and R. W. Longman, “Repetitive Control in the Presence of Multiple Periodic Disturbances,”

R. W. Longman, C.-K. Chang, and M. Phan, “Discrete Time Learning Control in Nonlinear Systems,”

D.-H. Tseng, R. W. Longman, J.-N. Juang, and C.-W. Chen, “Variance and Bias Confidence Criteria for System and Observer/Kalman Filter Identification,”

Solcz, E. J., and Longman, R. W., “Robustness of Repetitive Controllers to Frequency Uncertainties,”

Longman, R. W., and Ryu, Y. S., “Indirect Learning Control Algorithms for Time-Varying and Time-Invariant Systems,”

R. W. Longman, J.-S. Lew, and J.-N. Juang, “Comparison of Candidate Methods to Distinguish Noise Modes from System Modes in Structural Identification,”

Y. S. Ryu and R. W. Longman, “Indirect Learning Control for Nonlinear Dynamical Systems,”

J.-N. Juang, M. Phan, L. G. Horta, and R. W. Longman, “Identification of Observer/Kalman Filter Markov Parameters: Theory and Experiments,”

L. G. Horta, M. Phan, J.-N. Juang, R. W. Longman, and J. Sulla, “Frequency Weighted System Identification and Linear Quadratic Controller Design,”

D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of a Second-Order Mechanical System Model from a State Space Realization,”

Y. S. Ryu and R. W. Longman, “Indirect Learning Control for Nonlinear Dynamical Systems,”

S. C. Lee and R. W. Longman, “Indirect Decentralized Repetitive Control,”

Longman, R. W., Phan, M., and Juang, J.-N., “An Overview of a Sequence of Research Developments in Learning and Repetitive Control,”

V. H. Schulz, H. G. Bock, and R. W. Longman, “Optimal Path Planning in Satellite Mounted Robot Manipulators,”

J.-S. Lew, J.-N. Juang, and R. W. Longman, “Comparison of Several System Identification Methods for Flexible Structures,”

J.-N. Juang, S.-C. Wu, M. Phan, and R. W. Longman, “Passive Dynamic Controllers for Non-Linear Mechanical Systems,”

M. Phan, L. G. Horta, J.-N. Juang, and R. W. Longman, “Linear System Identification Via an Asymptotically Stable Observer,”

L. G. Horta, J.-N. Juang, R. W. Longman, “Discrete-Time Model Reduction in Limited Frequency Ranges,”

S. C. Lee and R. W. Longman, and M. Phan, “Direct Model Reference Learning and Repetitive Control,”

B. C. Fabien, R. W. Longman, and F. Freudenstein, “The Design of High-Speed Dwell-Rise-Dwell Cams using Linear Quadratic Optimal Control Theory,” ASME Transactions,

M. Phan, J.-N. Juang, L. G. Horta, R. W. Longman, “System Identification from Closed-Loop Data with Known Output Feedback Dynamics,”

V. H. Schulz, H. G. Bock, and R. W. Longman, “Shortest Paths for Satellite Mounted Robot Manipulators,”

D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of Gyroscopic and Nongyroscopic Second Order Mechanical Systems Including Repeated Root Problems,”

D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of the Structure of the Damping Matrix in Second Order Mechanical Systems,”

H. Elci, M. Phan, R. W. Longman, J.-N. Juang, and R. Ugoletti, “Experiments in the use of Learning Control for Maximum Precision Robot Trajectory Tracking,”

H. S. Jang and R. W. Longman, “A New Learning Control Law with Monotonic Decay of the Tracking Error Norm,”

Y. S. Ryu, R. W. Longman, E. J. Solcz, and J. de Jong, “Experiments in the use of Repetitive Control in Belt Drive Systems,”

H. Elci, R. W. Longman, M. Phan, J.-N. Juang, and R. Ugoletti, “Discrete Frequency Based Learning Control for Precision Motion Control,”

Y.-P. Wang and R. W. Longman, “Limit Cycle Behavior and Convergence to Zero Tracking Error in Learning Control with Stick-Slip Friction,”

H. Elci, R. W. Longman, M. Phan, J.-N. Juang, and R. Ugoletti, “Automated Learning Control through Model Updating for Precision Motion Control,”

M. Steinbach, H. G. Bock, and R. W. Longman, “Time-Optimal Extension or Retraction of Robots: Numerical Analysis of the Switching Structure,”

R. W. Longman, “Learning Control, Repetitive Control, and Vibration Annihilation,” Plenary Lecture,

M. Phan, L. G. Horta, J.-N. Juang, and R. W. Longman, “Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening,”

B. Fabien and R. W. Longman, “State Space Learning and Repetitive Control,”

J. S. Jang and R. W. Longman, “An Update on a Monotonic Learning Control Law and Some Fuzzy Logic Learning Gain Adjustment Techniques,”

G. Song, Y. Wang, L. Cai, and R. W. Longman, “A Sliding-Mode Based Smooth Adaptive Robust Controller for Friction Compensation,”

F. Jen, M. Shoham, and R. W. Longman, “Liapunov Stability of Force-Controlled Grasps with a Multi-Fingered Hand,”

R. W. Longman, “The Range of Possible Iterative Learning Control Laws to Optimize Robot Tracking,”

R. W. Longman, V. H. Schulz, and H. G. Bock, “Path Planning for Satellite Mounted Robots,” Keynote Lecture,

M. Q. Phan and R. W. Longman, “Relationship between State-Space and Input-Output Models via Observer Markov Parameters,”

R. W. Longman, “Learning and Repetitive Control Design Methodologies,”

G. Song, R. W. Longman, R. Mukherjee, and J. Zhang, “Integrated Sliding-Mode Adaptive-Robust Control,”

G. Lee-Glauser, J.-N. Juang, and R. W. Longman, “Comparison and Combination of Learning Controllers: Computational Enhancement and Experiments,”

H. S. Jang and R. W. Longman, “Design of Digital Learning Controllers using a Partial Isometry,”

Y. Wang and R. W. Longman, “Monotonic Vibration Suppression using Repetitive Control and Windowing Techniques,”

R. W. Longman and Y. Wang, “Phase Cancellation Learning Control Using FFT Weighted Frequency Response Identification,”

Y. Wang and R. W. Longman, “Use of Non-Causal Digital Signal Processing in Learning and Repetitive Control,”

G. F. Panariello, R. Betti, and R. W. Longman, “Linear Optimal Structural Control Including the External Excitation,”

H. G. Bock, J. P. Schloder, M. C. Steinbach, H. G. Worm, V. H. Schulz, and R. W. Longman, “Schnelle Roboter am Fliessband: Mathematische Bahnoptimerung in der Praxis,” in K.-H. Hoffmann, W. Jager, T. Lohmann, and H. Schunck, editors, Mathematik – Schlusseltechnologie fur die Sukunft, Springer Verlag, 1997, pp. 539-550.

Y. P. Hsin, R. W. Longman, E. J. Solcz, and J. de Jong, “Experimental Comparisons of Four Repetitive Control Algorithms,”

H. P. Wen and R. W. Longman, “Conditions for Convergence in Indirect Adaptive Control Based Learning Control,”

S. J. Oh, R. W. Longman, and M. Q. Phan, “Use of Decoupling Basis Functions in Learning Control for Local Learning and Improved Transients,”

Y. P. Hsin, R. W. Longman, E. J. Solcz, and J. de Jong, “Experiments Bridging Learning and Repetitive Control,”

R. W. Longman, “Design Methodologies in Learning and Repetitive Control,”

R. W. Longman and Y. P. Hsin, “On the Need for Stabilizing and the Methods of Stabilizing Repetitive and Learning Controllers,”

B. Hartel, M. Steinbach, H. G. Bock, and R. W. Longman, “The Influence of Friction on Time Optimal Robot Trajectories,”

M. Q. Phan, J.-N. Juang, and R. W. Longman, “Markov Parameters in System Identification: Old and New Concepts,”

R. W. Longman and C. P. Lo, “Generalized Holds, Ripple Attenuation, and Tracking Additional Outputs in Discrete Time Learning Control,”

R. Betti, H. Lus, G. F. Panariello, and R. W. Longman, “Reduced-Order Controller for MDOF Systems by Ensemble Training,”

G. F. Panariello, R. Betti, and R. W. Longman, “Optimal Structural Control via Training on Ensemble of Earthquakes,”

(Also G. F. Panariello, R. Betti, and R. W. Longman, “Ensemble Training of a Structural Controller for MDOF Systems,”

G. F. Panariello, R. Betti, and R. W. Longman, “Application of Ensemble Training of a Structural Controller to the AMD Benchmark Problem,”

G. F. Panariello, R. Betti, and R. W. Longman, “A Trained Structural Controller for MDOF Systems,”

G. Song, R. W. Longman, and L. Cai, “Integrated Adaptive-Robust Control of Robot Manipulators with Joint Stick-Slip Friction,”

V. H. Schulz, R. W. Longman, and H. G. Bock, “Computer Aided Motion Planning for Satellite Mounted Robots,”

J. Li, R. W. Longman, M. Steinbach, and H. G. Bock, “Issues in the Implementation of Time-Optimal Path Planning,”

G. Song, L. Cai, Y. Wang, and R. W. Longman, “A Sliding-Mode based Smooth Adaptive Robust Controller for Friction Compensation,”

M. Mössner-Beigel, M. Steinbach, H. G. Bock, and R. W. Longman, “Time Optimal Path Planning in Polar Robots with Joint Flexibility,”

J. Li, R. W. Longman, V. H. Schulz, and H. G. Bock, “The Choice of Appropriate Cost Functionals for Optimizing the Operating Speed of Robots,”

Y. P. Hsin, R. W. Longman, E. J. Solcz, and J. deJong, “Stabilization due to Finite Word Length in Repetitive and Learning Control,”

Y. P. Hsin, R. W. Longman, E. J. Solcz, and J. deJong, “A Repetitive Control Law Designed to Eliminate Periodic Measurement Disturbances,”

M. C. Steinbach, H. G. Bock, G. V. Kostin, R. W. Longman, “Mathematical Optimization in Robotics: Towards Automated High Speed Motion Planning,”

Y. S. Ryu and R. W. Longman, “Use of Anti-Reset Windup in Integral Control Based Learning and Repetitive Control,”

Conference version:

R. W. Longman and Y.-C. Huang, “Use of Unstable Repetitive Control for Improved Tracking Accuracy,”

Conference version:

G. F. Panariello, R. Betti, and R. W. Longman, “Application of Ensemble Training of a Structural Controller to the AMD Benchmark Problem,”

G. Song, R. W. Longman, and L. Cai, “Integrated Adaptive-Robust Control of Robot Manipulators,”

G. Song, Y. Wang, L. Cai, and R. W. Longman, “A Sliding-Mode Based, Smooth Adaptive Robust Controller for Friction Compensation,”

H.-P. Wen, M. Q. Phan, and R. W. Longman, “Bridging Learning Control and Repetitive Control using Basis Functions,”

J. Li, R. W. Longman, V. H. Schulz, and H. G. Bock, “Implementing Time Optimal Robot Maneuvers using Realistic Actuator Constraints and Learning Control,”

R. W. Longman, “Simple and Effective Iterative Learning and Repetitive Control Laws Tuned by Adjusting a Few Parameters,”

M. Q. Phan, R. K. Lim, and R. W. Longman, “Unifying Input-Output and State-Space Perspectives of Predictive Control,” Department of Mechanical and Aerospace Engineering Technical Report No. 3044, Princeton University, Princeton, NJ, September 1998.

R. K. Lim, M. Q. Phan, and R. W. Longman, “State-Space System Identification with Identified Hankel Matrix,” Department of Mechanical and Aerospace Engineering Technical Report No. 3045, Princeton University, Princeton, NJ, September 1998.

R. Lim, M. Q. Phan, and R. W. Longman, “State Estimation with ARMARKOV,” Department of Mechanical and Aerospace Engineering Technical Report No. 3046, Princeton University, Princeton, NJ, October 1998.

K. D. Mombaur, H. G. Bock, J. P. Schlöder, M. J. Winckler, and R. W. Longman, “Open-Loop Stable Control of Running Robots -- A Numerical Method for Studying Stability in the Context of Optimal Control Problems,”

R. W. Longman and S.-L. Wirkander, “Automated Tuning Concepts for Iterative Learning and Repetitive Control Laws,”

H. Lus, R. Betti, and R. W. Longman, “Identification of Structural Systems using General Input Data,”

R. W. Longman and T. Songchon, “Trade-Offs in Designing Learning/Repetitive Controllers using Zero-Phase Filtering for Long Term Stability,”

H.-P. Wen and R. W. Longman, “Floquet Stability Analysis of Disturbance Cancellation using Iterative Basis Function Feedback,”

G. Giese, R. W. Longman, and H. G. Bock, “Understanding how Minimum-Time Control Optimizes Link Interaction Forces in Polar Coordinate Robots,”

S.-L. Wirkander and R. W. Longman, “Limit Cycles for Improved Performance in Self-Tuning Learning Control,”

H.-J. Chen and R. W. Longman, “The Importance of Smooth Updates in Producing Good Error Levels in Repetitive Control,”

H. Lus, R. Betti, and R. W. Longman, “Identification of Linear Structural Systems Using Earthquake Induced Vibration Data,”

J.-N. Juang and R. W. Longman,

J.-N. Juang, R. W. Longman, and Y.-C. Chen,

H. Lus, R. Betti, and R. W. Longman, “Damage Identification in Linear Structural Systems,”

S. G. Edwards, B. N. Agrawal, M. Q. Phan, and R. W. Longman, “Disturbance Identification and Rejection Experiments on an Ultra Quiet Platform,”

A. M. Plotnik and R. W. Longman, “Subtleties in the Use of Zero-Phase Low-Pass Filtering and Cliff Filtering in Learning Control,”

G. Giese, R. W. Longman, and H. G. Bock, “The Optimized Interaction Forces in Minimum Time Control of Elbow and SCARA Robots,”

R. W. Longman, “Iterative Learning Control and Repetitive Control for Engineering Practice,”

R. W. Longman and Y.-C. Huang, “Analysis and Frequency Response of the Alternating Sign Learning and Repetitive Control Laws,”

R. W. Longman, R. Akogyeram, A. Hutton, J.-N. and J.-N. Juang, “Stability of Matched Basis Function Repetitive Control,”

H.-J. Chen, B. N. Agrawal, R. W. Longman, and M. Q. Phan, “Frequency-Domain Clear-Box Disturbance Rejection,”

M. Q. Phan, R. W. Longman, and K. L. Moore, “Unified Formulation of Linear Iterative Learning Control,”

P. M. Krämer-Eis, H. G. Bock, R. W. Longman, and J. P. Schlöder, “Numerical Determination of Optimal Feedback Control in Nonlinear Problems with State/Control Constraints,”

S. C. Lee, M. Q. Phan, R. W. Longman, and J.-W. Lee, “System and Disturbance Identification for Model-Based Learning and Repetitive Control,”

R. W. Longman, “Iterative Learning Control – Dynamic Systems that Learn in Time and Repetitions,” Keynote Lecture,

K. Avrachenkov and R. W. Longman, “Iterative Learning Control for Over-Determined, Under-Determined, and Ill Conditioned Systems,”

K. D. Mombaur, H. G. Bock, and R. W. Longman, “Stable, Unstable, and Chaotic Motions of Bipedal Walking Robots without Feedback,”

R. W. Longman, R. Akogyeram, J.-N. Juang, and A. Hutton, “Control Law Design for Eliminating Periodic Disturbances above Nyquist Frequency,”

T. Songchon and R. W. Longman, “Iterative Learning Control and the Waterbed Effect,”

M. De Angelis, H. Lus, R. Betti, and R. W. Longman, “A New Methodology for the Identification of Reduced Order Models of Structural Systems,”

J.-W. Lin, H. Lus, R. Betti, A. W. Smyth, and R. W. Longman, “Damage Detection in Linear and Nonlinear Systems,”

J.-W. Lin, R. Betti, R. W. Longman, and A. W. Smyth, “On-Line Parametric Identification of Nonlinear Hysteretic Structures,”

R. W. Longman, “Real Time IIR Zero-Phase Low-Pass Filtering for Robust Repetitive Control.”

G. Song, R. W. Longman, and R. Mukherjee, “Integrated Sliding-Mode Adaptive-Robust Control,”

H.-P. Wen and R. W. Longman, “Repetitive Control Methods when the Disturbance Period is not an Integer Multiple of the Sample Time,”

T. Songchon and R. W. Longman, “On the Waterbed Effect in Repetitive Control using Zero-Phase Filtering,”

R. W. Longman, R. Akogyeram, A. Hutton, and J.-N. Juang, “Trade-Offs between Feedback, Feedforward, and Repetitive Control for Systems Subject to Periodic Disturbances,”

H.-J. Chen, B. N. Agrawal, R. W. Longman, M. Q. Phan, and S. G. Edwards, “Rejection of Multiple Periodic Disturbances using MELMS with Disturbance Identification,”

J.-W. Lin, R. Betti, A. W. Smyth, R. W. Longman, “On-Line Identification of Non-Linear Hysteretic Structural Systems using a Variable Trace Approach,”

K. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Human-Like Actuated Walking that is Asymptotically Stable Without Feedback,”

R. W. Longman, “Iterative Learning Control: A Study of the Interplay between Theory, Simulation, and Experiments,”

R. A. Akogyeram, R. W. Longman, A. Hutton, and J.-N. Juang, “On the Choice of Method to Cancel 60Hz Disturbances in Beam Position and Energy,”

K. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schlöder, “Stable One-Legged Hopping without Feedback and with a Point Foot

M. De Angelis, H. Lus, R. Betti, and R. W. Longman, “Extracting Physical Parameters of Mechanical Systems from Identified State Space Representations,”

H. Elci, R. W. Longman, M. Q. Phan, J.-N. Juang, and R. Ugoletti, “Simple Learning Control Made Practical by Zero-Phase Filtering: Applications to Robotics” (invited paper),

H. Lus, R. Betti, and R. W. Longman, “Obtaining Refined First-Order Predictive Models of Linear Structural Systems,”

R. W. Longman and Y.-C. Huang, “The Phenomenon of Apparent Convergence followed by Divergence in Learning and Repetitive Control,”

(Earlier version: Y.-C. Huang and R. W. Longman, “The Source of the Often Observed Property of Initial Convergence Followed by Divergence in Learning and Repetitive Control,”

S. C. Lee, R. W. Longman, and M. Q. Phan, “Direct Model Reference Learning and Repetitive Control,”

K. Avrachenkov, H. S. M. Beigi, and R. W. Longman, “Updating Procedures for Iterative Learning Control in Hilbert Space,”

H.-J. Chen, R. W. Longman, and B. N. Agrawal, “Approaches to Matched Basis Function Repetitive Control,”

K. Chen and R. W. Longman, “Stability Issues using FIR Filtering in Repetitive Control,”

P. LeVoci and R. W. Longman, “Frequency Domain Prediction of Final Error due to Noise in Learning and Repetitive Control,”

C.-P. Lo and R. W. Longman, “On the use of Root Locus Departure Angle Information to Design Compensators in Repetitive Control,”

M. De Angelis, H. Lus, R. Betti, and R. W. Longman, “Issues in Reduced Order Modelling of Mechanical Systems”,

H. Lus, J. Yu, R. Betti, and R. W. Longman, “System Identification and Health Monitoring Using a Hybrid State Space / Physical Parameter Approach,”

R. W. Longman and T. Kwon, “Obtaining Good Transients in Iterative Learning Control Using Step Response Data,”

S. J. Oh and R. W. Longman, “Methods of Real-Time Zero-Phase Low-Pass Filtering for Robust Repetitive Control,”

P. A. LeVoci and R. W. Longman, “Time Domain Prediction of Final Error Due to Noise in Learning and Repetitive Control,”

M. Q. Phan and R. W. Longman, “Higher-Order Iterative Learning Control by Pole Placement and Noise Filtering,” paper in invited session on higher-order learning control,

A. W. Smyth, R. Betti, and R. W. Longman, “Data-Based Models,” Chapter for the

H. Lus, M. De Angelis, R. Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical Systems from Identified State Space Realizations. Part 1: Theoretical Discussion,” ASCE

H. Lus, M. De Angelis, R. Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical Systems from Identified State Space Realizations. Part 1I: Numerical Investigations,” ASCE,

R. W. Longman, “On the Interaction Between Theory, Experiments, and Simulation in Developing Practical Learning Control Algorithms,” Special Issue: Multidimensional Systems nD and Iterative Learning Control, K. Galkowski, R. W. Longman, and E. Rogers, Editors,

K. E. Avrachenkov and R. W. Longman, “Iterative Learning Control for Over-Determined, Under-Determined, and Ill-Conditioned Systems,” Special Issue: Multidimensional Systems nD and Iterative Learning Control, K. Galkowski, R. W. Longman, and E. Rogers, Editors,

R. W. Longman, Y.-T. Peng, T. Kwon, H. Lus, R. Betti, and J.-N. Juang, “Adaptive Inverse Iterative Learning Control,”

K. Chen and R. W. Longman, “Creating Short Time Equivalents of Frequency Cutoff for Robustness in Learning Control,”

M. Nagashima and R. W. Longman, “The Effect of Averaging in Matched Basis Function Real Time Repetitive Control,”

Y.-P. Hsin and R. W. Longman, “Repetitive Control to Eliminate Periodic Measurement Disturbances: Application to Disk Drives,”

S. Songschon and R. W. Longman, “Comparison of the Stability Boundary and the Frequency Response Stability Condition in Learning and Repetitive Control,”

M. Q. Phan, R. W. Longman, S. C. Lee, and J.-W. Lee, “System Identification from Multiple-Trial Data Corrupted by Non-Repeating Periodic Disturbances,”

A. K. Sen, M. Nagashima, and R. W. Longman, “Optimal Control of Tokamak Resistive Wall Modes in the Presence of Noise,”

R. W. Longman, “Approaches to Iterative Learning Control for Short Trajectories,”

K. D. Mombaur, H. G. Bock, J. P. Schloeder, and R. W. Longman, “Stability Optimization of Periodic Processes with Discontinuities,”

S. J. Oh and R. W. Longman, “Analysis of Stability and Performance in Higher Order Repetitive Control,”

P. A. LeVoci and R. W. Longman, “Frequency Domain Prediction of Final Error due to Quantization in Learning and Repetitive Control,”

M. Q. Phan and R. W. Longman, “Extracting Mass, Stiffness, and Damping Matrices of Mechanical Systems from Identified State-Space Models,”

P. A. LeVoci and R. W. Longman, “Intersample Error in Discrete Time Learning and Repetitive Control,”

S. J. Oh, R. W. Longman, and Y.-P. Hsin, “The Possible Block Diagram Configurations for Repetitive Control to Cancel Periodic Plant or Measurement Disturbances,”

B. Panomruttanarug and R. W. Longman, “Repetitive Controller Design Using Optimization in the Frequency Domain,”

J. Zhao, M. Diehl, R. W. Longman, H. G. Bock, and J. P. Schlöder, “Nonlinear Model Predictive Control of Robots Using Real-Time Optimization, “

N. Phetkong, M.-S. Chew, and R. W. Longman, “Morphing Mechanisms: Using Iterative Learning Control to Morph Cam Follower Motion,”

K. D. Mombaur, H. G. Bock, J. P. Schöder, and R. W. Longman, “Stable Walking and Running Robots Without Feedback,”

S. Mennicke, R. W. Longman, M.-S. Chew, and H. G. Bock, “A CAD Package for High-Speed Cam Design Based on Direct Multiple Shooting Optimal Control Techniques,”

H.-J. Chen, R. W. Longman, M.-S. Chew, “Eliminating Structural Error in Real-Time Adjustable Four-Bar Path Generators using Iterative Learning Control,”

M. S. Chew, R. W. Longman, and M. Q. Phan, “Intelligent Mechanisms,”

S. Mennicke, R. W. Longman, M.-S. Chew, and H. G. Bock, “High Speed Automotive Cam Design using Direct Multiple Shooting Optimal Control Techniques,”

K. D. Mombaur, H. G. Bock, J. P. Schöder, and R. W. Longman, “Open Loop Stability – a New Paradigm for Periodic Optimal Control and Analysis of Walking Mechanisms,”

R. W. Longman and B. Panomruttanarug, “Design of a Non-Causal FIR Model Inverse as a Compensator in Repetitive Control,”

K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Open-Loop Stable Control of Periodic Multibody Systems,”

S. J. Oh and R. W. Longman, “Stability of Higher Order Repetitive Control,”

K. Chen and R. Longman, “Stabilization of Learning Control in the Presence of Parasitic Poles for Short Time Trajectories,”

M. Nagashima and R. W. Longman, “Stability and Performance Analysis of Matched Basis Function Repetitive Control in the Frequency Domain,”

J. Zhao and R. W. Longman, “Predictive Feedback Control for Implementing Optimal Point-to-Point Trajectories Followed by Regulation,”

C.-P. Lo and R. W. Longman, “Designing Root Locus Departure Angle Compensators in Repetitive Control Based on Error Spectrum,”

K. Takanishi, M. Q. Phan, and R. W. Longman, “Design of an Optimal Combination of Feedback and Iterative Learning Controllers,”

K. D. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schöder, “Open-Loop Stable Running,”

K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Stability Optimization of Periodic Walking and Running Motions,” German Mathematics Research Institute Oberwolfach, Oberwolfach Reports No. 2/2005, Optimization and Applications, April 2005, pp. 105-107.

K. Takanishi, M. Q. Phan, and R. W. Longman, “Multiple-Model Probabilistic Design of Robust Iterative Learning Controllers,”

K. Zhang, M. Sun, K. D. Lester, F. X. Pi-Sunyer, C. N. Boozer, R. W. Longman, “Assessment of Human Locomotion by using an Insole Measurement System and Artificial Neural Networks,”

K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Open-Loop Stable Solution of Periodic Optimal Control Problems,”

K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman, “Self-Stabilizing Somersaults,”

R. W. Longman, P. A. LeVoci, and T. Kwon, “Making the Impossible Possible in Iterative Learning Control,”

R. W. Longman and M. Q. Phan, “Experiment Design Using Iterative Learning Control for Improved Identification of Linear Systems,”

C.-P. Lo and R. W. Longman, “Root Locus Analysis of Higher Order Repetitive Control,”

J. Zhao, R. W. Longman, H. G. Bock, and M. Diehl, “Inverse Dynamics Approach to Real-Time Optimal Control of Robots,”

M. Nagashima and R. W. Longman, “Comparison of Methods for Rejecting Multiple Frequency Disturbances with Frequency Tracking,”

M. Nagashima and R. W. Longman, “Cancellation of Unknown Periodic Disturbances by PLL/Adaptive Matched Basis Function Repetitive Control,”

G. Giese, R. W. Longman, and H. G. Bock, “Time-Optimal Elbow Robot Motion,”

N. Phetkong, M. S. Chew, and R. W. Longman, “Morphing Mechanisms Part 1: Using Iterative Learning Control to Morph Cam Follower Motion,”

N. Phetkong, M. S. Chew, and R. W. Longman, “Morphing Mechanisms Part 2: Using Repetitive Control to Morph Cam Follower Motion,”

Z. Sun, A. K. Sen, and R. W. Longman, “Adaptive Optimal Stochastic State Feedback Control of Resistive Wall Modes in Tokamaks,”

G. Franco, R. Betti, and R. W. Longman, “On the Uniqueness of Solutions for the Identification of Linear Structural Systems,” Transactions of the ASME,

R. W. Longman, J. W. Yeol, and Y. S. Ryu, “Improved Methods to Cancel Multiple Unrelated Periodic Disturbances by Repetitive Control,”

B. Panomruttanarug and R. W. Longman, “Frequency Based Optimal Design of FIR Zero-Phase Filters and Compensators for Robust Repetitive Control,”

R. W. Longman, T. Kwon, and P. A. LeVoci, “Making the Learning Control Problem Well Posed – Stabilizing Intersample Error,”

W. Kang and R. W. Longman, “The Effect of Interpolation on Stability and Performance in Repetitive Control,”

C.-P. Lo and R. W. Longman, “Frequency Response Analysis of Higher Order Repetitive Control,”

R. W. Longman and M. Q. Phan, “Iterative Learning Control as a Method of Experiment Design for Improved System Identification,” Special Issue on Parameter Estimation and Experiment Design,

R. W. Longman and K. D. Mombaur, “Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits,”

J.-G. Sun, R. W. Longman, and F. Freudenstein, “Objective Functions for Optimal Control in Cam Follower Systems,”

S. C. Lee, M. Q. Phan, and R. W. Longman, “Multiple-Model Design of Robustified Repetitive Controllers with Optimized Convergence Rate,”

Z. Sun, A. K. Sen, and R. W. Longman, “Adaptive Stochastic Output Feedback Control of Resistive Wall Modes in Tokamaks,”

Y. Li and R. W. Longman, “Better Holds Can Make Worse Intersample Error in Digital Learning Control,”

K. Chen, R. W. Longman, and M. Q. Phan, “On the Relationship Between Repetitive Control and Model Predictive Control,”

R. W. Longman, T. Kwon, D. Wang, and Y. Ye, “Practical, Model-Free, Completely Robust Learning Control using Reversed Time Input Runs,”

R. W. Longman, J. W. Yeol, and Y. S. Ryu, “Tuning and Performance of Robust Multiple-Period Repetitive Control,”

B. Panomruttanarug and R. W. Longman, “Converting Repetitive Control into Stable Learning Control by Iterative Adjustment of Initial State,”

R. W. Longman and W. Kang, “Issues in Robustification of Iterative Learning Control Using a Zero-Phase Filter Cutoff,”

R. W. Longman and J. Bao, “On the Periodic Images of Start-Up in Repetitive Control,”

R. W. Longman, J. W. Yeol, and Y. S. Ryu, “Placing the Repetitive Controller Inside of Outside the Feedback Loop: Simultaneously Achieving the Feedback and Repetitive Control Objectives,”

B. Panomruttanarug and R. W. Longman, “Designing Optimized FIR Repetitive Controllers from Noisy Frequency Response Data,”

J. Bao and R. W. Longman, “Enhancing of Repetitive Control using Specialized FIR Zero-Phase Filter Designs,”

H. M. Brown, M. Q. Phan, S. C. Lee, and R. W. Longman, “Robustified Repetitive Controllers with Monotonic Convergence for Multiple-Input Multiple-Output Systems,”

R. W. Longman, K. Xu, and M. Q. Phan, “Design of Repetitive Controllers in the Frequency Domain for Multi-Input Multi-Output Systems,”

B. Panomruttanarug and R. W. Longman, “The Advantages and Disadvantages of Kalman Filtering in Repetitive Control,”

Y. Li and R. W. Longman, “Addressing Problems of Instability in Intersample Error in Iterative Learning Control,”

A. P. Chinnan and R. W. Longman, “Designing Iterative Learning Controllers from Limited Pulse Response Data,”

R. W. Longman and K. D. Mombaur, “Implementing Linear Iterative Learning Control Laws in Nonlinear Systems,”

B. Panomruttanarug and R. W. Longman, “The Advantages and Disadvantages of Kalman Filtering in Iterative Learning Control,”

R. W. Longman, “The Fundamental Reliance of Iterative Learning Control on Stability Robustness,”

J. W. Yeol, R. W. Longman, and Y. S. Ryu, “On the Settling Time in Repetitive Control Systems,”

M. Q. Phan, H. M. Brown, S. C. Lee, and R. W. Longman, “Frequency Domain Based Design of Iterative Learning Controllers for Monotonic Convergence,”

J. Bao, R. W. Longman, E. A. Kostina, D. W. Wang, Y. Wang, “Improved Repetitive Control Filter Design for Both Learning Frequency Cutoff and Interpolation,”

R. W. Longman, J.-N. Juang, and M. Q. Phan, “On the Ill-Conditioning in MPC when used to Address the Repetitive Control Problem,”

R. W. Longman, K. D. Mombaur, and B. Panomruttanarug, “Designing Iterative Learning Control Subject to Actuator Limitations Using QP Methods,”

J. W. Yeol and R. W. Longman, “Time and Frequency Domain Evaluation of Settling Time in Repetitive Control,”

K. D. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schloder, “Optimizing Spring-Damper Design in Human Like Walking that is Asymptotically Stable Without Feedback,”

R. W. Longman, K. Xu, and B. Panomruttanarug, “Designing Learning Control that is Close to Instability for Improved Parameter Identification,”

B. Panomruttanarug and R. W. Longman, “Using a Kalman Filter to Attenuate Noise in Learning and Repetitive Control can Easily Degrade Performance,”

H. Yau and R. W. Longman, “Modeling of Non-Ideal Variable Pitch Valve Springs for Use in Automotive Cam Optimization,”

R. W. Longman and K. D. Mombaur, “Iterative Learning Control in Nonlinear Systems using State Estimation for Relinearization,”

K. Xu and R. W. Longman, “Use of Taylor Expansions of the Inverse Model to Design FIR Repetitive Controllers,”

B. Panomruttanarug, R. W. Longman, and M. Q. Phan, “Multiple Model Robustification of Iterative Learning and Repetitive Control Laws Including Design from Frequency Response Data,”

M. Q. Phan, R. W. Longman, J.-N. Juang, “Identification of Linear Time-Varying Systems by a Canonical Representation,”

M. Q. Phan, R. W. Longman, J.-N. Juang, “A Direct Method for Identifying Linear Time-Varying State-Space Models,”

Y. Li and R. W. Longman, “Using Underspecification to Eliminate the Usual Instability of Digital System Inverse Models,”

J. W. Yeol, R. W. Longman, and H. G. Bock, “On the Relationships between Proofs of Convergence in Continuous Time and Discrete Time Iterative Learning Control,”

M. Q. Phan, R. W. Longman, B. Panomruttanarug, and S. C. Lee, “Robustification of Iterative Learning Control and Repetitive Control by Averaging,”

R. W. Longman, “Repetitive Control Design Methodology for Enhanced Performance,” Symposium on Iterative Learning Control at the IEEE Conference on Decision and Control, Shanghai, China. (A shorter version of the following reference.)

R. W. Longman, “On the Theory and Design of Linear Repetitive Control Systems,”