Investigators: Lucy Y. Pao and K. E. Johnson
Advisors: Alan Wright, Rod Frehlich, Bonnie Jonkman, and Neil Kelley
Project Duration: July 2009 - January 2010
Project Title: Advanced Controller Design for Tape Head
Positioning Servo System
Investigator: Lucy Y. Pao
Sponsor:
Information Storage Industry Consortium Tape Program
and
Sun Microsystems, Inc.
Project Duration: March 2009 - March 2010
Project Title: Advanced Controls for Wind Turbines
Investigator: Lucy Y. Pao
Sponsor:
Department of Energy / National Renewable
Energy Laboratory
Project Duration: January 2009 - January 2010
Project Title: High-Speed Precision Motion Control for Near-Field
Optical Microscopy and Lithography
Investigators: Lucy Y. Pao and Robert R. McLeod
Sponsor:
University of Colorado Innovative
Seed Grant Program
Project Duration: September 2008 - August 2010
Project Title: Control Architectures and Adaptive
Model-Inverse Based Methods for Nonminimum Phase Uncertain
Systems, with Applications to Atomic Force Microscopes
Investigators: Lucy Y. Pao and
D. Y. Abramovitch
Sponsor:
National Science Foundation
Project Duration: July 2007 - June 2010
Project Title: Design of Lidar, Data Processing, and Control
Algorithms for Optimal Wind Farm Performance
Investigators:
Rod G. Frehlich
and Lucy Y. Pao
Sponsor:
CU/NREL Energy Initiative
Project Duration: June 2007 - December 2008
Project Title:
Control of Atomic Force Microscopes to Achieve Faster Sample Measurements
Investigator: Lucy Y. Pao
Sponsor: Agilent Technologies, Inc.
Project Duration: November 2006 - October 2009
Project Title:
Time Optimal Repetitive Control Algorithms
Investigators: Lucy Y. Pao and
Dale A. Lawrence
Sponsor: Maxtor Corporation
Project Duration: December 2004 - November 2007
Project Title:
Projected Phase-Plane Control of Flexible Structures with Applications
to Hard Disk Drives
Investigator: Lucy Y. Pao
Sponsor: National Science Foundation
Project Duration: June 15, 2002 - May 31, 2007
Project Title:
Control of Tape Systems Accounting for Reel Eccentricities
Investigator: Lucy Y. Pao
Sponsor:
Colorado Center for Information Storage
. Project is being carried out in conjunction
with
Quantum Corporation.
Project Duration: March 1, 2004 - February 28, 2006
Project Title:
Speed and Tension Control in Tape Systems
Investigator: Lucy Y. Pao
Sponsor:
Colorado Center for Information Storage
. Project is being carried out in conjunction
with
Storage Technology Corporation.
Project Duration: March 1, 2001 - October 31, 2003
Project Title:
Rapid Slewing of Flexible Components
Investigator: Lucy Y. Pao
Sponsors:
Colorado Center for Information Storage
and
Quantum Corporation
Project Duration: September 1, 2002 - August 31, 2007
Project Title:
Precise Control of Elastic Components for Tape Systems
Investigator: Lucy Y. Pao
Sponsors:
Colorado Advanced
Software Institute and
Storage Technology Corporation
Project Duration: August 15, 1998 - August 31, 1999
Project Title:
Rapid and Robust Control of Flexible Structures
Investigator: Lucy Y. Pao
Sponsor: National Science Foundation
Project Duration: June 1, 1996 - November 30, 2001
Awards:
Recent Publications:
Grant CMMI-0700877
Program Manager: Dr. Suhada Jayasuriya
Grant CMS-0201459
Program Manager: Dr. Alison Flatau / Dr. Masayoshi Tomizuka /
Dr. Mario Rotea / Dr. Eduardo Misawa / Dr. Suhada Jayasuriya
Early Faculty CAREER Development Award, Grant CMS-9625086
Program Manager: Dr. Devendra P. Garg (1996-1998), Dr. Alison Flatau
(1998-2001)
CDC
Plenary on "Control of Flexible Structures: From Large Space
Structures to Disk Drive Read/Write Arms (Thursday, December 14, 2006).
University of Colorado Faculty Fellowship, 2001-2002
2001 American Control Conference Best Student Paper Award for paper
M. A. Lau and L. Y. Pao.
"Comparison of Input Shaping and Time-Optimal Control of Flexible
Structures," Proc. American Control Conf., Arlington, VA,
pp. 1485-1490, June 2001.
Colorado Advanced Software Institute Exemplary Project Award, October 2000
University of Colorado Junior Faculty Development Award, July 1997
1996 IFAC World Congress Young Author Prize for paper
L. Y. Pao.
"Input Shaping Design for
Flexible Systems with Multiple Actuators," Proc. IFAC
World Congress, Vol. P (Aerospace and Transportation Systems),
San Francisco, CA, pp. 267-272, July 1996.
NSF Early Faculty CAREER Award, 1996-2001
B. P. Rigney, L. Y. Pao, and
D.
A. Lawrence.
"
Nonminimum Phase Adaptive Inverse Control for Settle Performance
Applications," accepted for publication in the
IFAC J. Mechatronics, to appear.
F. Dunne, L. Y. Pao, A. D. Wright, B. Jonkman, and N. Kelley.
"Combining Standard Feedback Controllers with Feedforward Blade Pitch
Control for Load Mitigation in Wind Turbines," accepted for
publication in the
Proc. AIAA Aerospace Sciences Meeting, Orlando, FL, Jan. 2010,
in press.
J. Laks, L. Y. Pao, and A. D. Wright.
"Blade Pitch Control with Preview Wind Measurements," accepted
for publication in the
Proc. AIAA Aerospace Sciences Meeting, Orlando, FL, Jan. 2010,
in press.
B. P. Rigney, L. Y. Pao, and
D.
A. Lawrence.
"Nonminimum
Phase Dynamic Inversion for Settle Time Applications,"
IEEE Trans. Control Systems Technology, 17(5): 989-1005, Sept. 2009.
H. Zhong and L. Y. Pao.
"Regulating
Web Tension in Tape Systems with Time-Varying Radii,"
Proc. American Control Conf., St. Louis, MO, pp. 198-203, June 2009.
B. P. Rigney, L. Y. Pao, and
D. A. Lawrence.
"Adaptive
Inverse Control for Settling Performance Improvements,"
Proc. American Control Conf., St. Louis, MO, pp. 190-197, June 2009.
One of four finalists for the conference-wide Student Best Paper Award.
L. Y. Pao and
K. E. Johnson.
"A Tutorial
on the Dynamics and Control of Wind Turbines and Wind Farms,"
Proc. American Control Conf., St. Louis, MO, pp. 2076-2089, June 2009.
ACC09
Presentation File (PDF file)
J. Laks, L. Y. Pao, and A. Wright.
"Control
of Wind Turbines: Past, Present, and Future,"
Proc. American Control Conf., St. Louis, MO, pp. 2096-2103, June 2009.
ACC09
Presentation File
(PPS file (free viewer available
here))
Jeffrey A. Butterworth,
L. Y. Pao, and
D. Y. Abramovitch.
"A
Comparison of Control Architectures for Atomic Force Microscopes,"
Asian J. Control, 11(2): 175-181, March 2009.
J. H. Laks, L. Y. Pao, and A. Wright.
"Combined Feedforward/Feedback
Control of Wind Turbines to Reduce Blade Flap Bending Moments,"
Proc. AIAA Aerospace Sciences Meeting, Orlando, FL, Jan. 2009.
H. Zhong and L. Y. Pao.
"Disturbance Rejection
in Parameter-Varying Web-Winding Systems,"
Proc. IFAC World Congress, Seoul, Korea, pp. 9284-9289, July 2008.
B. P. Rigney, L. Y. Pao, and
D. A. Lawrence.
"Discrete-Time
Exact and Approximate Dynamic Inversion for Settle Performance,"
Proc. IFAC World Congress, Seoul, Korea, pp. 1778-1784, July 2008.
Jeffrey A. Butterworth,
L. Y. Pao, and
D. Y. Abramovitch.
"A
Comparison of Control Architectures for Atomic Force Microscopes,"
invited keynote paper, Proc. IFAC World Congress, Seoul, Korea,
pp. 8236-8250, July 2008.
V. Yousefzadeh, A. Babazadeh, B. Ramachandran, E. Alarcon,
L. Pao, and D. Maksimovic.
"Proximate
Time-Optimal Digital Control for Synchronous Buck DC-DC
Converters," IEEE Trans. Power Electronics, 23(4): 2018-2026,
July 2008.
H. Zhong and L. Y. Pao.
"Feedforward
Control to Attenuate Tension Error in Time-Varying
Systems,"Proc. American Control Conf., Seattle, WA,
pp. 533-538, June 2008.
Jeffrey A. Butterworth,
L. Y. Pao, and
D. Y. Abramovitch.
"The
Effect of Nonminimum-Phase Zero Locations on the Performance
of Feedforward Model-Inverse Control Techniques in Discrete-Time
Systems," Proc. American Control Conf., Seattle, WA,
pp. 2696-2702, June 2008.
M. D. Baumgart and L. Y. Pao.
"Discrete Time-Optimal Command Shaping," Automatica,
43(8): 1403-1409, Aug. 2007.
D. Y. Abramovitch,
S. B. Andersson, L. Y. Pao, and G. Schitter.
"A
Tutorial on the Mechanisms, Dynamics, and Control of Atomic
Force Microscopes," Proc. American Control Conf.,
New York, NY, pp. 3488-3502, July 2007.
L. Y. Pao,
Jeffrey A. Butterworth,
and
D. Y. Abramovitch.
"A
Combined Feedforward/Feedback Control of Atomic Force Microscopes,"
Proc. American Control Conf.,
New York, NY, pp. 3509-3515, July 2007.
V. Yousefzadeh, E. Alarcon, D. Maksimovic, and L. Pao.
"Proximate Time-Optimal Digital Control for DC-DC Converters,"
Proc. IEEE Power Electronics Specialists Conf.,
Orlando, FL, June 2007.
M. D. Baumgart and L. Y. Pao.
"Robust Control of Nonlinear Web-Winding Systems with and without
Tension Sensors," ASME J. Dynamic Systems, Measurement, and
Control, 129(1): 41-55, Jan. 2007.
B. P. Rigney, L. Y. Pao,
and
D. A. Lawrence.
"Model Inversion
Architectures for Settle Time Applications with Uncertainty,"
Proc. IEEE Conf. Decision and Control,
San Diego, CA, pp. 6518-6524, Dec. 2006.
B. P. Rigney, L. Y. Pao,
and
D. A. Lawrence.
"Settle-Time Performance Comparisons of Approximate Inversion
Techniques for LTI Nonminimum Phase Systems,"
Proc. American Control Conf.,
Minneapolis, MN, pp. 600-605, June 2006.
C. La-orpacharapan and L. Y. Pao.
"Fast and Robust Control of Systems with Multiple Flexible Modes,"
IEEE/ASME Trans. Mechatronics, 10(5): 521-534, Oct. 2005.
V. Kulkarni, H. Zhong, and L. Y. Pao.
"Robust Rejection of Periodic and Almost Periodic Disturbances,"
Proc. IFAC World Congress, Prague, Czech Republic,
July 2005.
M. D. Baumgart and L. Y. Pao.
"Time-Optimal Control of Web-Winding Systems with Air Entrainment,"
IEEE/ASME Trans. Mechatronics, 10(3): 257-262, June 2005.
H. Zhong, V. Kulkarni, and L. Y. Pao.
"Adaptive Control for Rejecting Disturbances with Time-Varying
Frequencies in Tape Systems," Proc. American Control Conf.,
Portland, OR, pp. 533-538, June 2005.
M. D. Baumgart and L. Y. Pao.
"Robust Control of Tape Transport Systems with No Tension Sensor,"
Proc. IEEE Conf. Decision and Control, Paradise Island,
Bahamas, pp. 4342-4349, Dec. 2004.
C. La-orpacharapan and L. Y. Pao.
"Robust Shaped Time-Optimal Servomechanism Control,"
Proc. Japan-USA Symposium on Flexible Automation,
Denver, CO, July 2004.
C. La-orpacharapan and L. Y. Pao.
"Nonlinear Control for Maneuvering Multiple Flexible Mode Systems,"
Proc. American Control Conf.,
Boston, MA, pp. 1176-1182, June 2004.
C. F. Cutforth and L. Y. Pao.
"Adaptive Input Shaping Techniques for Maneuvering Flexible
Structures," Automatica, 40(4): 685-693, April 2004.
L. Y. Pao and C. La-orpacharapan.
"Shaped Time-Optimal Feedback Controllers for Flexible
Structures,"
ASME J. Dynamic Systems, Measurement, and Control,
126(1): 173-186, Mar. 2004.
C. La-orpacharapan and L. Y. Pao.
"Shaped Phase-Plane Feedback Control for Disk Drive Systems,"
IEEE Trans. Magnetics, 40(1): 85-96, Jan. 2004.
M. D. Baumgart and L. Y. Pao.
"
Robust Lyapunov-Based Feedback Control of Nonlinear Web-Winding
Systems," Proc. IEEE Conf. Decision and Control,
Maui, HI, pp. 6398-6405, Dec. 2003.
L. Y. Pao and C. F. Cutforth.
"On Frequency-Domain and Time-Domain Input Shaping for Multi-mode
Flexible Structures,"
ASME J. Dynamic Systems, Measurement, and Control,
125(3): 494-497, Sept. 2003.
C. La-orpacharapan and L. Y. Pao.
"
Shaped Time-Optimal Control for Disk Drive Systems with Back EMF,
Slew Rate Limits, and Different Acceleration and Deceleration
Rates," Proc. American Control Conf.,
Denver, CO, pp. 4788-4795, June 2003.
C. La-orpacharapan and L. Y. Pao.
"
Fast Seek Control for Flexible Disk Drive Systems with Back EMF
and Inductance,"
Proc. American Control Conf., Denver, CO, pp. 3077-3082, June 2003.
M. D. Baumgart and L. Y. Pao.
"
A Tension Observer for Nonlinear Web-Winding Systems
with Air Entrainment,"
Proc. American Control Conf., Denver, CO, pp. 4149-4154, June 2003.
M. A. Lau and L. Y. Pao.
"Input Shaping and Time-Optimal Control of Flexible Structures,"
Automatica, 39(5): 893-900, May 2003.
C. F. Cutforth and L. Y. Pao.
"Control Using Equal Length Shaped Commands to Reduce Vibration,"
IEEE Trans. Control Systems Technology, 11(1): 62-72, Jan. 2003.
C. La-orpacharapan and L. Y. Pao.
"
Shaped Control for Damped Flexible Structures with Friction and
Slew Rate Limits,"
Proc. IEEE Conf. Decision and Control, Las Vegas, NV,
pp. 3099-3105, Dec. 2002.
M. D. Baumgart and L. Y. Pao.
"
Transient Control of Web-Winding Systems with Air Entrainment,"
Proc. IFAC Conf. Mechatronic Systems, Berkeley, CA, pp. 17-22,
Dec. 2002.
C. La-orpacharapan and L. Y. Pao.
"Shaped Phase-Plane Control for Flexible Structures with Friction,"
Proc. American Control Conf., Anchorage, AK, pp. 1911-1916,
May 2002.
C. F. Cutforth and L. Y. Pao.
"Analysis and Design of an Adaptive Input Shaper for the Control
of Flexible Structures,"
Proc. American Control Conf., Anchorage, AK, pp. 1903-1910,
May 2002.
M. D. Baumgart and L. Y. Pao.
"
Discrete Time-Optimal Command Shapers and Controls for Multi-Input
Multi-Output Systems,"
Proc. American Control Conf., Anchorage, AK, pp. 2279-2284,
May 2002.
M. A. Lau and L. Y. Pao.
"Characteristics of Time-Optimal Commands for Flexible Structures
with Limited Fuel Usage," J. Guidance, Control, and
Dynamics, 25(2): 222-231, Mar.-Apr. 2002.
M. A. Lau and L. Y. Pao.
"
Comparison of Input Shaping and Time-Optimal Control of Flexible
Structures," Proc. American Control Conf., Arlington, VA,
pp. 1485-1490, June 2001.
C. La-orpacharapan and L. Y. Pao.
"
Control of Flexible Structures with a Projected Phase-Plane
Approach,"
Proc. American Control Conf., Arlington, VA, pp. 3817-3823,
June 2001.
M. D. Baumgart and L. Y. Pao.
"
Cooperative Multi-Input Shaping for Arbitrary Inputs,"
Proc. American Control Conf., Arlington, VA, pp. 275-280,
June 2001.
C. F. Cutforth and L. Y. Pao.
"Command Shaping Control for Vibration Reduction without Lengthening
the Command,"
Proc. AIAA Guidance, Navigation, and Control Conf.,
Denver, CO, Aug. 2000.
M. A. Lau and L. Y. Pao.
"
Time-Optimal Commands with Specified Fuel Usage for Controlling
Flexible Structures,"
Proc. American Control Conf.,
Chicago, IL, pp. 3058-3063, June 2000.
L. Y. Pao.
"
Strategies for Shaping Commands in the Control of Flexible
Structures," Proc.
Japan/USA/Vietnam Workshop on Research and Education in Systems,
Computation, and Control Engineering, Ho Chi Minh City, Vietnam,
pp. 309-318, June 2000.
L. Y. Pao and M. A. Lau.
"Robust Input Shaper Control Design for Parameter Variations
in Flexible Structures,"
ASME J. Dynamic Systems, Measurement, and Control,
122(1): 63-70, March 2000.
C. F. Cutforth and L. Y. Pao.
"
A Modified Method for Multiple Actuator Input Shaping,"
Proc. American Control Conf.,
San Diego, CA, pp. 66-70, June 1999.
C. F. Cutforth and L. Y. Pao.
"
An Analysis of Frequency-Domain Input Shaping Designs
for Three-Mode Flexible Systems,"
Proc. American Control Conf.,
San Diego, CA, pp. 4388-4392, June 1999.
L. Y. Pao and M. A. Lau.
"The Expected Residual Vibration of Traditional and Hybrid Input
Shaping Designs,"
J. Guidance, Control, and Dynamics,
22(1): 162-165, Jan.-Feb. 1999.
L. Y. Pao.
"Multi-Input Shaping Design for Vibration Reduction,"
Automatica, 35(1): 81-89, Jan. 1999.
L. Y. Pao and M. A. Lau.
"An Analysis of the Expected Residual Vibration of Input
Shaping Designs,"
Proc. AIAA Guidance, Navigation, and Control Conf.,
Boston, MA, pp. 354-364, Aug. 1998.
L. Y. Pao and M. A. Lau.
"
Input Shaping Designs to Account for Uncertainty in Both
Frequency and Damping in Flexible Structures,"
Proc. American Control Conf., Philadelphia, PA,
pp. 3070-3071, June 1998.
L. Y. Pao and C. F. Cutforth.
"
An Analysis and Comparison of Frequency-Domain and Time-Domain
Input Shaping,"
Proc. American Control Conf., Philadelphia, PA,
pp. 3072-3074, June 1998.
L. Y. Pao and
W. E. Singhose.
"Robust Minimum Time Control of Flexible Structures,"
Automatica, 34(2): 229-236, Feb. 1998.
L. Y. Pao.
"An Analysis of the Frequency, Damping, and Total
Insensitivities of Input Shaping Designs,"
AIAA J. Guidance, Control, and Dynamics, 20(5): 909-915,
Sept.-Oct. 1997.
L. Y. Pao and
W. E. Singhose.
"Verifying Robust Time-Optimal Commands for Multi-Mode Flexible
Spacecraft," AIAA J. Guidance, Control, and Dynamics,
20(4): 831-833, July-Aug. 1997.
L. Y. Pao, T. N. Chang, and E. Hou.
"Input Shaper Designs for
Minimizing the Expected Level of Residual Vibration in Flexible
Structures," Proc. American Control Conf.,
Albuquerque, NM, pp. 3542-3546, June 1997.
W. E. Singhose
and L. Y. Pao.
"A Comparison of Input Shaping and
Time-Optimal Flexible-Body Control,"
Control Engineering Practice, 5(4): 456-467, Apr. 1997.
W. E. Singhose,
L. Y. Pao, and
W. P.
Seering.
"Slewing Multimode Flexible Spacecraft with Zero Derivative Robustness
Constraints," AIAA J. Guidance, Control, and Dynamics, 20(1):
204-206, Jan.-Feb. 1997.
W. E. Singhose
and L. Y. Pao. "Comparison of Input Shaping
Techniques for Speed-Critical Multi-Mode Flexible Systems,"
Proc. IEEE Conf. on Control Applications, Dearborn, MI,
pp. 379-384, Sept. 1996.
N. C. Singer, L. Y. Pao,
W. E. Singhose,
and
W. P.
Seering.
``An Efficient Algorithm for the Generation of Multiple-Mode Input
Shaping Sequences," Proc. IEEE Conf. on Control Applications,
Dearborn, MI, pp. 373-378, Sept. 1996.
W. E. Singhose,
L. Y. Pao, and
W. P.
Seering.
"Time-Optimal Rest-to-Rest Slewing of Multi-Mode Flexible Spacecraft
Using ZVD Robustness Constraints,"
Proc. AIAA Guidance, Navigation, and Control Conf.,
San Diego, CA, July 1996.
L. Y. Pao.
"An Analysis of the Total
Insensitivity of Input Shaping Designs," Proc. AIAA Guidance,
Navigation, and Control Conf., San Diego, CA, July 1996.
L. Y. Pao and
W. E. Singhose.
"Unity-Magnitude Input Shapers
and Their Relation to Time-Optimal Control," Proc. IFAC
World Congress, Vol. A (Robotics, Components, and Instruments),
San Francisco, CA, pp. 385-390, July 1996.
L. Y. Pao.
"Input Shaping Design for
Flexible Systems with Multiple Actuators," Proc. IFAC
World Congress, Vol. P (Aerospace and Transportation Systems),
San Francisco, CA, pp. 267-272, July 1996.
