Automatica 41 (2005) 225231

www.elsevier.com/locate/automatica
Brief paper
Adaptive control of a hysteretic structural system

Fayal Ikhouane
a,
, Vctor Maosa
b
, Jos Rodellar
a
a
Departament de Matemtica Aplicada III, Universitat Politcnica de Catalunya, Jordi Girona 1-3, 08034 Barcelona, Spain
b
Colom 1, 08222 Terrassa, Spain
Received 22 April 2003; received in revised form 30 January 2004; accepted 30 August 2004
Available online 8 December 2004
Abstract
This paper addresses the problem of controlling a second-order uncertain structural hysteretic system. The hysteretic behavior is
represented by a BoucWen model whose parameters lie within intervals. It is shown that the nonlinear response of the model acts as a
bounded disturbance. This fact is used to elaborate an adaptive controller, to prove the closed-loop stability and to obtain performance
bounds.
2004 Elsevier Ltd. All rights reserved.
Keywords: Hysteresis; BoucWen model; Adaptive control
1. Introduction
To describe the behavior of hysteretic processes several
mathematical models have been proposed: the Duhemmodel
uses the property that a hysteretic systems output changes
its character when the input changes direction; the Ishlin-
skii hysteresis operator has been proposed as a model for
plasticityelasticity; and the Preisach model has been used
for the modelling of electromagnetic hysteresis. A survey
of the mathematical models for hysteresis may be found in
Macki, Nistri, and Zecca (1993). Most works devoted to con-
trolling systems with a continuous hysteresis have used the
backlash model (see for example Tao & Kokotovic (1995)).
As noted as early as in Lecoq and Hopkin (1972): Use of
backlash to model this hysteresis element misrepresents the
behavior about the origin does not properly account for sat-
uration, and introduces a dead zone that does not exist. The
objective of the present paper is to use an alternative sim-
ple model of a smooth hysteresis known as the BoucWen

This paper was not presented at any IPAC meeting. This paper was
recommended for publication in revised form by Associate Editor T. H.
Lee under the direction of Editor B. Bitmead.

Corresponding author.
E-mail addresses: faycal.ikhouane@upc.es (F. Ikhouane),
victor.manosa@upc.es (V. Maosa), jose.rodellar@upc.es (J. Rodellar).
0005-1098/$ - see front matter 2004 Elsevier Ltd. All rights reserved.
doi:10.1016/j.automatica.2004.08.018
model. Proposed in Wen (1976), this model (a rst-order
nonlinear differential equation) has been used experimen-
tally mainly in structural systems and has remained largely
unknown to the wide control community. The BoucWen
model is able to capture, in an analytical form, a range
of shapes of hysteretic cycles which match the behavior
of a wide class of hysteretical systems (Smyth, Masri,
Kosmatopoulos, Chassiakos, & Caughey, 2002). It has
been used experimentally to model piezoelectric elements
(Low & Guo, 1995), magnetorheological dampers (Spencer,
Dyke, Sain, & Carlson, 1997) and wood joints (Foliente,
1995). The experimentally obtained models have been used
either to predict the behavior of the physical hysteretic ele-
ment (Spencer et al., 1997) or for control purposes (Chen,
Lee, Hang, Guo, & Weerasooriya, 1999).
In this paper, the BoucWen model is associated to a
second-order structural system with the aim of representing
the behavior of a base-isolation system. An active controller
is designed to counteract the effect of an earthquake excita-
tion. Since we assume that neither the structural parameters
(mass and damping) nor the BoucWen model parameters
are exactly known, adaptive control is used to stabilize the
closed loop and improve its performance. The main dif-
culty of the problem is the presence of a nonlinear dynamic
term arising from the BoucWen model as an unmeasured
226 F. Ikhouane et al. / Automatica 41 (2005) 225231
(a) (b)
Fig. 1. (a) Base isolation system and (b) physical model.
perturbation. The contributions of this paper are: (1) to show
that this nonlinear part is uniformly bounded; (2) to derive
an upper bound on this nonlinear perturbation as an explicit
function of the BoucWen model parameters; and (3) to
design an adaptive controller for the hysteretic system using
the fact that the hysteretic part of the model can be viewed
as a bounded disturbance.
2. Problem statement
The system under consideration in this paper is described
by the second-order model
m x + c x +1(x, t ) = f (t ) + u(t ), (1)
where m and c are the mass and the damping coefcient, re-
spectively, which are uncertain, and 1 characterizes a non-
linear restoring force. x gives the position, f (t ) is an exciting
unknown force and u(t ) is an active control force supplied
by appropriate actuators. This is the main component in base
isolation installed to supply passive and active protection of
structures (like buildings) against earthquakes (Fig. 1). The
passive resistance relies on the physical design of the isola-
tor between the base and the foundation. The active protec-
tion is added by a controller that supplies forces generated
by a feedback control law (Luo, Rodellar, de la Sen, &Vehi,
2000). The excitation force is f (t ) = ma(t ), where a(t ) is
the earthquake ground acceleration. The nonlinear force 1
presents a hysteresis phenomenon due to the use of inelastic
rubber bearings and is described by the so-called BoucWen
model (Wen, 1976) in the following form:
1(x, t ) =:kx(t ) + (1 :)Dkz(t ), (2)
z = D
1
_
A x [| x| |z|
n1
z z x|z|
n
_
. (3)
This model represents the restoring force 1(x, t ) by the
superposition of an elastic component :kx and a hysteretic
component (1:)kDz, in which D>0 is the yield constant
displacement and : (0, 1) is the post- to pre-yielding
stiffness ratio. The hysteretic part involves a nondimensional
auxiliary variable z which is the solution of the nonlinear
rst-order differential Eq. (3). In this equation, A, [ and
z are nondimensional parameters which control the shape
and the size of the hysteresis loop, while n1 governs the
smoothness of the transition from elastic to plastic response.
The following assumptions complete the description of
system (1)(3):
Assumption 1. The parameters m and c are unknown, but
there exist known positive constants m
max
and c
max
such
that 0 <mm
max
and 0cc
max
.
Assumption 2. While the disturbance f is unknown, there
exists a known positive constant F such that |f (t )| F for
all t 0.
Assumption 3. The parameters :, D, k, A, [, and n of the
BoucWen model are uncertain. Denoting anyone of these
parameters by p, there exist known constants p
min
and p
max
such that p [p
min
, p
max
].
Assumption 4. The displacement x and velocity x are avail-
able for on-line measurement.
Control objective: To design a backstepping-based adap-
tive control law such that: (1) the closed loop is globally uni-
formly ultimately bounded; (2) let y
r
(t ) be a known bounded
reference signal such that y
r
and y
r
are known, bounded, and
piecewise continuous. Our objective is also that the track-
ing error x(t ) y
r
(t ) can be made arbitrarily small both
transient by and asymptotically by an explicit choice of the
design parameters.
3. Open-loop analysis of the BoucWen model
The objective of this section is to write system (1)(3) in
an appropriate form paving the way to the design of an adap-
tive controller. More precisely, we show that the BoucWen
nonlinear restoring force 1 belongs to the class of nonlinear
functions dened by
1(x, t ) =[
1

1
_
x
d
, t
_
+[
2

2
_
x
d
, t
_
+ +[
n

n
_
x
d
, t
_
+ R(x, t ), (4)
where
1
,
2
, . . . ,
n
are known (possibly unbounded) lo-
cally Lipschitz functions; the constants [
k
are uncertain pa-
rameters verifying Property 1, and R(x, t ) is an uncertain
functional term that veries Property 2. The known constant
d is a positive scaling factor which has the same dimension
as the displacement x.
Property 1. The unknown constant vector 0
[
=([
1
, [
2
, . . . ,
[
n
)
T
is such that 0
[
M
[
, where M
[
is known.
Property 2. There exists a known locally Lipschitz function
r(x, t ) such that |R(x, t )| r(x, t ).
To this end, the following theorem is useful.
F. Ikhouane et al. / Automatica 41 (2005) 225231 227
Table 1
Boundedness of the hysteretic part of the BoucWen model
CASE O |z(t )| bound
A>0 [ +z >0 and [ z0 R max(|z(0)|, z
0
)
[ z <0 and [0 [z
1
, z
1
] max(|z(0)|, z
0
)
A<0 [ z >0 and [ +z0 R max(|z(0)|, z
1
)
[ +z <0 and [0 [z
0
, z
0
] max(|z(0)|, z
1
)
A = 0 [ +z0 and [ z0 R |z(0)|
ALL OTHER CASES
O denotes the set of initial conditions z(0) for which the signal z(t ) is
bounded for every piecewise continuous signal x.
Theorem 1. Consider the nonlinear dynamic system (3)
whose input is x and its output is z. Then, for any piecewise-
continuous signals x and x (bounded or not) the output z(t )
is uniformly bounded if the parameters of system (3) ver-
ify the inequalities in Table 1. The variables z
0
and z
1
are
dened as z
0
=
n
_
A/([ +) and z
1
=
n
_
A/( [).
The proof of Theorem 1 is given in Appendix A. The
boundedness of the signal z means that it can be consid-
ered as a bounded disturbance acting on the system. In
practice, for a real base isolation system, the parameters
:, D, A, [, z and n are usually obtained by identication
procedures (Smyth, Masri, Chassiakos, & Caughey, 1999)
that lead to the knowledge of an interval for each parame-
ter. For anyone of these parameters p [p
min
, p
max
] dene
p

=(p
min
+p
max
)/2. With these notations, we write (2) in
the form
1(x, t ) =
_
:k o
_
x + (1 :)Dkz +ox
=[
1
x
d
+ (1 :)Dkz +ox, (5)
where o = :

. Eq. (5) is under the form (4) with [

1
=
d(:k o),
1
(x) = x/d, and R(x, t ) = (1 :)Dkz. Since
the term ox is known, it will be incorporated into the control
u. (note that the term (1 :)Dkz could have been also
incorporated into the disturbance f). A bound on [
1
may be
determined as follows:
|[
1
| d max(:
max
k
max
:

, :

:
min
k
min
)
M
[
, (6)
so that Property 1 is veried. For the residual term R we
have the following inequality:
|R(x, t )| (1 :
min
)D
max
k
max
max
t 0
|z(t )| r. (7)
According to Theorem 1, max
t 0
|z(t )| exists and an upper
bound on it can be determined from Table 1 so that Property
2 is indeed veried.
4. Controller design and closed-loop properties
4.1. Controller design
We rst rewrite Eqs. (1)(4) in the following state space
form:
x
1
= x
2
,
x
2
=
1
m
_
cv
x
2
v
[
1
T
1
_
x
1
d
, t
_
[
n
T
n
_
x
1
d
, t
_
R(x
1
, t ) + f (t ) + u(t ))
=
1
m
_
0
T

_
x
1
d
,
x
2
v
, t
_
R(x
1
, t ) + f (t ) + u(t )) , (8)
where x
1
=x, x
2
= x, 0=(cv, [
1
, . . . , [
n
)
T
is the (constant)
vector of uncertain parameters and
=
_

x
2
v
, T
1
_
x
1
d
, t
_
, . . . , T
n
_
x
1
d
, t
__
T
.
The known positive constant v is introduced to have dimen-
sionless components in the regression vector and (force)
dimension-like terms in the parameter vector 0.
From Assumption 1 and Property 1, it follows that
0
_
(c
max
v)
2
+ M
2
[
M
0
. (9)
Consider now the standard variables:
z
1
= x
1
y
r
, (10)
:
1
= c
1
v
d
z
1
, (11)
z
2
= x
2
y
r
:
1
. (12)
The control law and parameter update laws are given in
Eqs. (13) and (15) below. They have been derived using
the adaptive version of the backstepping technique (Krstic,
Kanellakopoulos, & Kokotovic, 1995) as the parameters are
not exactly known.
Adaptive control law:
u(t ) =

0
T
c
1
v
d
(x
2
y
r
) m
v
2
d
2
mz
1

d
v
3
m
max
d
2
z
2
r
2
+ m y
r

vm
max
d
c
2
z
2
sg
_
z
2
v
_
cf
_
|z
2
|
v
_
gF. (13)
Parameter estimate laws:

0 =
M
2
0
m
max
v
2
Iz
2

v
d
Io
0
_

0
M
0
_

0, (14)

m =m
max
_
c
1
dv
x
2
+
1
d
2
z
1

1
v
2
y
r

c
1
dv
y
r
_
z
2

v
d
o
m
_
| m|
m
max
_
m. (15)
In the above expressions, c
1
, c
2
, and d
2
are dimension-
less positive design parameters and 0g1 adjusts the
228 F. Ikhouane et al. / Automatica 41 (2005) 225231
part of the information on the perturbation f to be included
in the control law; I is a (dimensionless) positive de-
nite design matrix, o
0
(y) = o
0
o(y), o
m
(y) = o
m
o(y), and
cf(y) =o(y/c
1
), where
o(y) =
_
0, y 1,
y 1, y [1, 2],
1, y 2.
In the above expression o
0
, o
m
and c
1
are (dimensionless)
positive design parameters. The function sg is dened as
follows:
sg(y) =
_
1, y c
2
,
1
c
2
y, y [c
2
, c
2
] ,
1, y c
2
,
where c
2
is a (dimensionless) positive design parameter.
4.2. Stability and performance analysis
In this section we state the stability and performance (tran-
sient and asymptotic) properties of the control scheme. The
tracking error both of the closed-loop displacement and ve-
locity is measured by the root-mean-square norm dened in
the form
y
rms,[0,T ]

_
1
T
_
T
0
y(t )
2
dt , (16)
for some time interval [0, T ]. We introduce also the follow-
ing notation: f
dv
(
1
2
mv
2
)/d. Note that f
dv
has the dimen-
sion of a force.
Theorem2. The closed loop consisting of the system(1)(3)
under Assumptions 14 along with the control law given by
(13)(15) is globally uniformly ultimately bounded. More-
over, the control signal is bounded.
Theorem 3. The following statements hold:
(a) The transient displacement tracking error performance
is given by
_
z
1

rms,[0,T ]
d
_
2

_
m
m
max
+
m
max
m
_
_
1

_
m(0)
m
max
_
2
+

0(0)
M
0

2
I
1
+
o
m
2c
1
+
o
0
2c
1
0
2
M
2
0
+
1
2c
1
d
2
+
(1 g)
2
4c
1
c
2
f
2
rms,[0,T ]
f
2
dv
_
+
g(4c
1
+ 2c
2
)
c
1
F
f
dv
, (17)
for all T 0, and with the notation X
P

X
T
PX
for any vectorX and positive denite matrix P.
(b) The asymptotic displacement tracking error perfor-
mance is given by
_
z
1

rms,[t
0
,]
d
_
2

_
m
m
max
+
m
max
m
__
1
4c
1
d
2
+
(1 g)
2
8c
1
c
2

f
2
rms,[t
0
,]
f
2
dv
_
+
1
c
1
g(2c
1
+c
2
)
F
f
dv
(18)
for all t
0
0.
(c) The transient velocity tracking error performance is
given by
_
x y
r

rms,[0,T ]
v
_
2
2
_
m
m
max
+
m
max
m
_
_
1 + c
2
1

_
m(0)
m
max
_
2
+ (1 + c
2
1
)
_
_
_
_
_

0(0)
M
0
_
_
_
_
_
2
I
1
+ o
m
_
c
1
2
+
m
c
2
m
max
_
+ o
0
0
2
M
2
0
_
c
1
2
+
1
c
2
_
+
1
d
2
_
1
c
2
+
c
1
2
_
+
_
c
1
c
2
+
m
m
max
c
2
2
_
(1 g)
2
f
2
rms,[0,T ]
f
2
dv
_
+ g
_
2
c
2
+ c
1
_

_
1 +
m
m
max
_
(8c
1
+ 4c
2
)
F
f
dv
, (19)
for all T 0.
(d) The asymptotic velocity tracking error performance is
given by
_
x y
r

rms,[t
0
,]
v
_
2
2
_
m
m
max
+
m
max
m
__
c
1
+
2
c
2
_

_
1
4d
2
+
(1 g)
2
8c
2
f
2
rms,[t
0
,]
f
2
dv
_
+ g
_
c
1
+
2
c
2
_
(4c
1
+ 2c
2
)

_
1 +
m
m
max
_
F
f
dv
, (20)
for all t
0
0.
The proof of Theorems 2 and 3 follows standard argu-
ments (Krstic et al., 1995). The details may be found in
Ikhouane, Maosa, and Rodellar (2003).
Remark. From Theorem 3 the following conclusions can
be drawn: (1) The displacement and velocity tracking per-
F. Ikhouane et al. / Automatica 41 (2005) 225231 229
formances (both transient and asymptotic) are characterized
by explicit functions of the design parameters. (2) The clos-
est the initial estimates m(0) and

0(0) to the true values m
and 0, the better the transient performance. The asymptotic
behavior is not affected by the initial estimate errors. (3) We
may decrease the effect of the initial error estimates on the
transient performance by increasing the adaptation gains
and I. This increase has no effect on the asymptotic perfor-
mance. (4) Overestimating the mass leads to a poor perfor-
mance (both transient and asymptotic). (5) To improve the
displacement tracking performance (transient and asymp-
totic), we may also increase the gains c
1
, c
2
, d
2
or decrease
c
1
, c
2
, o
0
and o
m
. (6) The formulae in statements (c) and (d)
show that by xing the gain c
1
, increasing the gains c
2
, d
2
and decreasing c
1
, c
2
, we may achieve a velocity tracking
mean-square error as small as desired both transiently and
asymptotically. (7) The gain g may be used for a trade-off
between the desired tracking performance and an acceptable
control amplitude.
5. Simulation results
In this section we test the above control scheme in a
system described by (1) with nonlinear hysteretic restoring
term 1 given by (2) and (3). For the simulations, the fol-
lowing values are selected as true nominal parameters for
the system and the hysteresis model: m
e
= 156 10
3
Kg,
k
e
=610
6
N/m, c
e
=210
4
Ns/m, :
e
=0.6, D
e
=0.6 m,
A
e
=1, [
e
=0.1, z
e
=0.5, n
e
=3. In fact, it is not required
to know the exact values of these parameters to implement
the controller, only their [min, max] intervals are needed.
We assume that for each parameter p {k, :, D, A, [, z, n}
the following intervals are known:
0 <m2m
e
m
max
,
0c2c
e
c
max
,
p
e
2
p
min
p2p
e
p
max
. (21)
With these values we are in the case A
min
>0, [
min
+
z
min
>0, [
max
z
min
<0 and [
min
>0. Thus we can use
Table 1 to obtain an upper bound on z(t ) as
max
t 0
|z(t )| max(|z(0)|, z
0
) = z
0
, taking z(0) = 0 and
z
0
= max
_
nmax
_

A
max

min
+[
min

,
n
min
_

A
max

min
+[
min

_
.
In this way, we determine the constant r from Eq. (7).
We take the following set of design parameters: = 20,
I=10 I
2
, c
1
=0.1, c
2
=0.1, o
0
=0.1, o
m
=0.1, c
1
=0.1,
c
2
= 0.1, d
2
= 0.1, g = 0.1, d = 1, v = 1. The reference
trajectory y
r
(t ) is set to zero. The initial values of

0 and
m are set to

0(0) = (c
max
v, M
[
)
T
and m(0) = m
max
. The
comparison of the open loop and closed-loop behaviors is
shown in Figs. 24 . Figs. 2 and 3 show the time history
of the state variables x
1
(displacement) and x
2
(velocity). A
0 5 10 15 20 25 30
-0.03
-0.02
-0.01
0
0.01
0.02
0.03
time (seconds)
d
i
s
p
l
a
c
e
m
e
n
t

(
m
e
t
e
r
s
)
Fig. 2. Closed-loop displacement (solid) and open-loop displacement
(dashed).
0 5 10 15 20 25 30
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
time (seconds)
v
e
l
o
c
i
t
y

(
m
/
s
)
Fig. 3. Closed-loop velocity (solid) and open-loop velocity (dashed).
0 5 10 15 20 25
-1
-0.5
0
0.5
1
time (seconds)
a
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
Fig. 4. Control signal (acceleration, u(t )/m
e
).
signicant reduction in both displacement and velocity can
be observed in the controlled case. The magnitude of the
control signal in Fig. 4 seems reasonable in comparison with
the seismic excitation acceleration a(t ) plotted in Fig. 5.
6. Conclusion
In this paper the BoucWen model has been used to de-
scribe the behavior of a second-order structural hysteretic
system. A backstepping-based adaptive controller has been
designed for this nonlinear system to reduce the response
230 F. Ikhouane et al. / Automatica 41 (2005) 225231
0 5 10 15 20 25
-1
-0.5
0
0.5
1
time (seconds)
a
c
c
e
l
e
r
a
t
i
o
n

(
m
/
s
2
)
Fig. 5. Taft Earthquake ground acceleration.
induced by an external excitation. The nonlinear response
of the model has been shown to be uniformly bounded. This
fact has been used to prove the stability of the closed loop
and derive explicit bounds on its transient and asymptotic
performance. The efciency of the controller has been tested
by means of numerical simulations.
Acknowledgements
Supported by CICYT through Grant DPI2002-04018-
C02-01. The rst author acknowledges the support of the
Spanish Ministry of Science and Technology through the
Ramn y Cajal program. The second author acknowl-
edges the partial support of the Government of Catalonias
Grant 2001SGR-00173.
Appendix A. Proof of Theorem 1
Dene the set O as the set of initial conditions z(0) for
which the signal z(t ) is bounded for every piecewise contin-
uous signal x. The following analysis determines the set O
as an explicit function of the BoucWen model parameters.
Consider the case A>0, then there are three possibilities.
P
1
: [ + z >0 and [ z0. P
2
: [ + z >0 and [ z <0.
P
3
: [ +z0. Let us focus on the case P
1
. We consider the
Lyapunov function candidate V(t ) = z(t )
2
/2. Its derivative
takes different forms depending on the signs of x and z. In-
deed, setting Q
1
:= { x 0 and z0}, and denoting

V
|Q
1
as the expression of the derivative of the Lyapunov function
V over the set Q
1
, we have

V
|Q
1
=z xD
1
(A([ +z)z
n
).
Thus

V
|Q
1
0 for
z
n
_
A
[ +z
z
0
.
Also, if we set Q
2
:= { x 0 and z0}, we have

V
|Q
2
=
z xD
1
(A+([z)|z|
n
). In this case,

V
|Q
2
0 for all values
of z. The same conclusion is drawn in the case of Q
3
:=
{ x 0 and z0}, since

V
|Q
3
= z xD
1
(A + ([ z)z
n
).
Finally, taking Q
4
:= { x 0 and z0}, we get

V
|Q
4
=
z xD
1
(A([+z)|z|
n
). Thus,

V
|Q
4
0 for|z| z
0
. We then
conclude that, for all the possibilities of the signs of x and
z, we have

V 0 for all |z| z
0
. By Theorem 4.10 in Khalil
(1992) we conclude that z(t ) is bounded for every piecewise
function x(t ) and every initial condition z(0). The bounds
on z(t ) can be derived from Eqs. (4.22) and (4.23) in Khalil
(1992) as follows: If the initial condition of z is such that
|z(0)| z
0
, then |z(t )| z
0
for all t 0. If the initial condi-
tion of z is such that |z(0)| z
0
, then |z(t )| |z(0)| for all
t 0.
We now consider the case P
2
. Again, the deriva-
tive of V(t ) depends on the signs of x and z. In-
deed,

V 0 in the regions { x 0 and z0 and zz
0
},
{ x 0 and z0 and |z| z
1
}, { x 0 and z0 and zz
1
},
{ x 0 and z0 and |z| z
0
} where
z
1

n
_
A
z [
.
Hence, we conclude that: if z
1
z
0
(that is, when [0),
then

V 0 for every z
0
|z| z
1
independently of the sign
of x. By Theorem 4.10 in Khalil (1992) we conclude that
z(t ) is bounded for every piecewise continuous function
x(t ) and any initial state z(0) such that |z(0)| z
1
. Us-
ing the same theorem we can obtain the following bound :
|z(t )| max(|z(0)|, z
0
).
Following the same analysis for the case P
3
, we can see
that z(t ) may be unbounded for some functions x. This im-
plies that the region of ultimate boundedness is empty.
A similar analysis can be drawn for the cases A<0 and
A = 0. Table 1 in Section 3 summarizes the results of this
Appendix.
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Fayal Ikhouane Electrical Engineer, Ecole
Mohammadia dIngenieurs, Rabat, Morocco
(1990). Degree in Fundamental Mathe-
matics, Universit Mohammed V, Rabat,
Morocco (1995). Dr. in Automatic Control,
Ecole Mohammadia dIngenieurs, Rabat,
Morocco (1996). Dr. in Robotics, Universit
de Caen, France (2001). Current position:
Researcher (Ramon y Cajal Program) with
the Grup de Dinmica, Control i Aplicacions
(CoDAlab), Departament de Matemtica
Aplicada III, Universitat Politcnica de
Catalunya. Research interests: System mod-
elling, Control theory, Control of uncertain
systems, Smart structures and structural
control, Hysteretic systems.
Vctor Maosa Degree in Mathematics,
Universitat Autnoma de Barcelona, Spain
(1993). Dr. in Mathematics, Universitat
Autnoma de Barcelona, Spain (1999). Cur-
rent position: Associate Professor with the
Grup de Dinmica, Control i Aplicacions
(CoDAlab), Departament de Matemtica
Aplicada III, Universitat Politcnica de
Catalunya. Research interests: Analytic and
qualitative theory of dynamical systems,
System modelling, Control theory, Control
of uncertain systems.
Jos Rodellar Degree in Physics, Univer-
sitat de Barcelona, Spain (1976), Dr. in
Physics, Universitat de Barcelona, Spain
(1982). Current position: Professor with the
Grup de Dinmica, Control i Aplicacions
(CoDAlab), Departament de Matemtica
Aplicada III, Universitat Politcnica de
Catalunya. Research interests: System mod-
elling, Control theory, Control of uncertain
systems, Predictive control, Large scale
systems, Smart structures and structural
control, Control of open channel ow.