M. D. Donahue and J. K. HedrickFu-Cheng Wang and M. C. SmithJ. Bengtsson and R. Johansson and A. SjögrenJ. Kalkkuhl and T.A. Johansen and J. LüdemannS. Solyom and A. RantzerK.J. Hunt and Yongji Wang and M. Schinkel and T. Schmitt-HartmannI. Petersen and T. A. Johansen and J. Kalkkuhl and J. LüdemannC. Canudas-de-Wit and P. Tsiotras and X. Claeys and J. Yi and R. HorowitzE. HendricksA. Balluchi and L. Benvenuti and M. D. Di Benedetto and A. L. Sangiovanni-VincentelliD. Förstner and J. LunzeG. Fiengo and L. Glielmo and S. SantiniM. Gäfvert and K.-E. Årzén and B. Bernhardsson and L.M. PedersenP. Tunestål and J.-O. Olsson and B. JohanssonL. Berardi and E. De Santis and M. D. Di Benedetto and G. PolaG. Golo and A. van der Schaft and P. C. Breedveld and B. M. MaschkeS. Pettersson and B. LennartsonW.P.M.H. Heemels and M.K. Çamlibel and A.J. van der Schaft and J. M. Schumacher

1 Implementation of an Active Suspension, Preview Controller for Improved Ride Comfort	p. 1
1.1 Introduction	p. 2
1.2 Controller Structure	p. 3
1.3 Force Tracking Controller	p. 3
1.4 Higher-level Controllers	p. 8
1.5 Preview Information	p. 11
1.6 Experimental Results	p. 13
1.7 Conclusions	p. 15
1.8 References	p. 18
1.A HMMWV Equipment	p. 19
1.B Test Track	p. 21
1.C Nomenclature	p. 21
2 Active and Passive Suspension Control for Vehicle Dive and Squat	p. 23
2.1 Introduction	p. 24
2.2 Limitations Imposed by Passivity in Vehicle Suspension Design	p. 24
2.3 Suspension Geometry in the Half-car Trailing-arm Model	p. 27
2.4 Active Suspension Design for Independence of Disturbance Responses	p. 33
2.5 Active Suspension Design for the Trailing-arm Model	p. 36
2.6 References	p. 38
3 Modeling of Drivers' Longitudinal Behavior	p. 41
3.1 Introduction	p. 42
3.2 Material and Methods	p. 42
3.3 Results and Validation	p. 48
3.4 Conclusion	p. 52
3.5 References	p. 53
4 Nonlinear Adaptive Backstepping with Estimator Resetting using Multiple Observers	p. 59
4.1 Introduction	p. 60
4.2 Nonlinear Adaptive Backstepping	p. 62
4.3 Stability Analysis of Parameter Resetting	p. 65
4.4 Multiple Model Observer (MMO)	p. 71
4.5 A Second Order Benchmark System	p. 76
4.6 Wheel Slip Control	p. 77
4.7 Conclusions	p. 82
4.8 References	p. 82
5 ABS Control-A Design Model and Control Structure	p. 85
5.1 Introduction	p. 86
5.2 The Design Problem	p. 87
5.3 The Control Structure	p. 90
5.4 Simulation and Experimental Results	p. 93
5.5 Conclusion	p. 95
5.6 References	p. 95
6 Controller Design for Hybrid Systems using Simultaneous D-stabilisation and its Application to Anti-lock Braking Systems (ABS)	p. 97
6.1 Introduction	p. 98
6.2 Constraints for SSP with D-stable Regions	p. 101
6.3 Constraints for SSSP with D-stable Regions	p. 109
6.4 Numerical Solution Techniques for the SSP and SSSP	p. 111
6.5 Design Example and Application to ABS Control	p. 114
6.6 Conclusions	p. 119
6.7 References	p. 121
7 Wheel Slip Control in ABS Brakes using Gain-scheduled Constrained LQR	p. 125
7.1 Introduction	p. 126
7.2 Modelling	p. 126
7.3 Control Problem	p. 130
7.4 Gain-scheduled LQRC Controller Design and Analysis	p. 130
7.5 Implementation	p. 138
7.6 Experimental Results	p. 140
7.7 Discussion and Conclusions	p. 140
7.8 References	p. 144
7.A Appendix-Details of Proof	p. 145
8 Friction Tire/Road Modeling, Estimation and Optimal Braking Control	p. 147
8.1 Introduction	p. 148
8.2 Road/Tire Contact Friction Models	p. 150
8.3 Higher-dimensional Models	p. 165
8.4 Road/Tire Friction Observers	p. 175
8.5 General Observer Design	p. 177
8.6 Optimal Braking	p. 184
8.7 Observed-based Emergency Braking Control	p. 195
8.8 Conclusions	p. 205
8.9 References	p. 206
9 Nonlinear Observer Control of Internal Combustion Engines with EGR	p. 211
9.1 Introduction	p. 212
9.2 Torque Control Feedforward Observer	p. 212
9.3 Closed-loop Observer	p. 217
9.4 Possible Improvements	p. 220
9.5 Conclusions	p. 224
9.6 Nomenclature	p. 225
9.7 References	p. 225
10 Idle Speed Control Synthesis using an Assume-guarantee Approach	p. 229
10.1 Introduction	p. 230
10.2 Plant Hybrid Model	p. 232
10.3 Idle Speed Control Design	p. 234
10.4 Closed-loop System Behavior Verification	p. 237
10.5 Conclusions	p. 242
10.6 References	p. 243
11 Fault Diagnosis of Switched Nonlinear Dynamical Systems with Application to a Diesel Injection System	p. 245
11.1 Introduction	p. 246
11.2 Discrete-event Behaviour of Switched Nonlinear Systems	p. 249
11.3 Requirements on Models Used for Diagnosis	p. 251
11.4 Consistency-based Diagnosis	p. 252
11.5 Representation of Quantised Systems by means of Automata	p. 254
11.6 A Diagnostic Algorithm for Quantised Systems	p. 256
11.7 Automotive Application: Fault Diagnosis of a Power Stage	p. 257
11.8 Conclusions	p. 260
11.9 References	p. 260
12 Modelling the Dynamic Behaviour of Three-way Catalytic Converters during the Warm-up Phase	p. 263
12.1 Motivations	p. 264
12.2 Basics of the TWC	p. 265
12.3 A Two-time-scale Infinite-adsorption Model of TWC	p. 268
12.4 Machine Learning for Reaction Kinetics	p. 275
12.5 A Phenomenological Model of TWC	p. 278
12.6 Conclusions	p. 283
12.A Appendix-Mathematical Reduction Procedure	p. 283
13 Control of Gasoline Direct Injection Engines using Torque Feedback: A Simulation Study	p. 289
13.1 Introduction	p. 290
13.2 GDI Engines	p. 291
13.3 The GDI Benchmark	p. 292
13.4 The GDI Engine Model	p. 293
13.5 Core Control Strategies	p. 296
13.6 Controller Designs	p. 300
13.7 Core Controller Results	p. 307
13.8 A Complete Engine Management System	p. 309
13.9 Full Benchmark Results and Comparisons	p. 312
13.10 Torque Estimation and Sensing	p. 314
13.11 Conclusions	p. 316
13.12 References	p. 317
14 Closed-loop Combustion Control of HCCI Engines	p. 321
14.1 Homogeneous Charge Compression Ignition (HCCI)	p. 322
14.2 Closed-loop Control of Ignition Timing	p. 324
14.3 Closed-Loop Combustion Control of HCCI Engines	p. 326
14.4 Conclusion and Discussion	p. 332
14.5 References	p. 332
15 Approximations of Maximal Controlled Safe Sets for Hybrid Systems	p. 335
15.1 Introduction	p. 336
15.2 Definition and Properties of Controlled Safe Sets	p. 336
15.3 Inner Approximations of the Maximal Controlled Invariant Set	p. 339
15.4 An Example of Application	p. 345
15.5 Conclusions	p. 348
15.6 References	p. 348
16 Hamiltonian Formulation of Bond Graphs	p. 351
16.1 Introduction	p. 352
16.2 Bond Graph Models	p. 352
16.3 Dirac Structures	p. 354
16.4 Geometric Formulation of a Bond Graphs	p. 355
16.5 Well-posedness and Equation Suitable for Numerical Simulation	p. 358
16.6 Index of System	p. 364
16.7 Example	p. 366
16.8 Conclusion	p. 371
16.9 References	p. 371
17 Stability Analysis of Hybrid Systems -A Gearbox Application	p. 373
17.1 Introduction	p. 374
17.2 Application and Hybrid Model	p. 375
17.3 Exponential Stability	p. 378
17.4 Linear Matrix Inequalities	p. 380
17.5 Stability of the Gearbox Application	p. 385
17.6 Conclusions	p. 387
17.7 References	p. 387
18 On the Existence and Uniqueness of Solution Trajectories to Hybrid Dynamical Systems	p. 391
18.1 Introduction	p. 392
18.2 Model Classes	p. 393
18.3 Solution Concepts	p. 396
18.4 Well-posedness Notions	p. 399
18.5 Well-posedness of Hybrid Automata	p. 400
18.6 Well-posedness of Multi-modal Linear Systems	p. 403
18.7 Complementarity Systems	p. 405
18.8 Differential Equations with Discontinuous Right Hand Sides	p. 413
18.9 Summary	p. 419
18.10 References	p. 419
Author List	p. 423
Author Index	p. 429
Subject Index	p. 435