Scott Bortoff's Publications
Nonlinear Control
- S. A. Bortoff, ``Approximate feedback linearization using
spline functions,'' Automatica, Vol. 33, No. 8, Aug. 1997,
pp. 1449-1458.
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- D. E. Davison and S. A. Bortoff, ``Stabilization using
pseudolinearization and high-gain feedback,''
Automatica, Vol. 33, No. 2, Feb. 1997, pp. 245-252.
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- S. A. Bortoff, ``Robust swing-up control for a rotational double
pendulum,'' Proceedings of the 1996 IFAC World Congress,
Volume F, (San Francisco, CA), July, 1996, pp. 413-418.
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- D. E. Davison and S. A. Bortoff, ``Regulation of the acrobot,'' in
Proceedings of the 1995 IFAC Symposium on Nonlinear Control
Systems Design, (Tahoe City, CA), June 1995, pp. 390-395.
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- D. E. Davison and S. A. Bortoff, ``Enlarge your region of attraction
using high-gain feedback,'' in Proceedings of the 1994
Conference on Decision and Control, (Lake Buena Vista,
Florida), Dec. 1994, pp. 634-639.
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- S. A. Bortoff, ``Approximate state-feedback linearization using
spline functions,'' in Proceedings of the 1994 American
Control Conference, (Baltimore, MD), June 1994, pp. 1702-1706.
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- S. A. Bortoff, ``Advanced nonlinear control using digital
signal processing,'' IEEE Transactions on Industrial
Electronics, Feb. 1994, pp. 32-39.
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- S. A. Bortoff and M. W. Spong, ``Pseudolinearization of the
acrobot using spline functions,'' in Proceedings of the
31st IEEE Conference on Decision and Control, (Tucson, AZ),
Dec. 1992, pp. 593-598..
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Adaptive Nonlinear Control
- Ruth Milman and S. A. Bortoff, ``Observer-based adaptive control
of a variable reluctance motor: Experimental results,'' submitted
to the
IEEE Transactions on Control System Technology , July 1996
(under review).
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click here for postscript.
- Ruth Milman and S. A. Bortoff, ``Observer-based adaptive control
of a variable reluctance motor: Experimental results,''
Proceedings of the 1997 IEEE Conference on Decision and Control,
, pp. 217-222, Dec. 1997.
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- S. A. Bortoff, R. R. Kohan and R. Milman, ``Adaptive control
of variable reluctance motors: A spline function approach,''
IEEE Transactions on Industrial Electronics, vol. 45, no.
3, June 1998, pp. 433-444.
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- R. S. Minhas and S. A. Bortoff, ``Robustness considerations in
spline-based adaptive feedback linearization,''
Proceedings of the 1996 IFAC World Congress, Volume E,
(San Francisco, CA), July, 1996, pp. 191-196.
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- R. S. Minhas and S. A. Bortoff, ``Adaptive feedback linearization using
multivariable spline functions,'' in Proceedings of the 1995
American Control Conference, (Seattle, Washington), June 1995,
pp. 3207-3211.
- R. R. Kohan and S. A. Bortoff, ``Adaptive control of variable
reluctance motors using spline functions,'' in Proceedings of
the 1994 Conference on Decision and Control, (Lake Buena Vista,
Florida), Dec. 1994, pp. 1694-1699.
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Nonlinear Observers
- A. F. Lynch and S. A. Bortoff, ``Nonlinear Observers with Approximately
Linear Error Dynamics,'' submitted to the
IEEE Transactions on Automatic Control, Jan. 1998
(under review).
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- A. F. Lynch and S. A. Bortoff, ``Observer design for non-integrable
systems,'' Proceedings of the 1997 American Control Conference,
(Albuquerque, NM), June 1997, pp. 176-181.
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- A. F. Lynch and S. A. Bortoff, ``Nonlinear observer design
by approximate error linearization,''
Systems & Control Letters, Vol. 32, No. 3, Nov. 1997,
pp. 161-172.
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- S. A. Bortoff and A. F. Lynch, ``Synthesis of optimal nonlinear
observers,'' in
Proceedings of the 1995 IEEE Conference on Decision and
Control (New Orleans, Louisiana), Dec. 1995, pp. 95-100.
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- S. A. Bortoff, ``Construction of an optimal nonlinear observers,''
presented at the Workshop on Exterior Differential Systems in
Control Theory, Fields Institute for Research in Mathematical
Sciences, University of Toronto, December 1994.
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- S. A. Bortoff and M. W. Spong, ``Observer-based pseudolinearization
using splines: The rolling acrobot example,'' in Proceedings of
the ASME-WAM 1992, (Anaheim, CA), ASME, Nov. 1992.
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- S. A. Bortoff and M. W. Spong, ``Parameter identification for
nonlinear systems,'' in Proceedings of the 29th IEEE Conference
on Decision and Control, (Honolulu, HI), Dec. 1990, pp. 772-777.
- S. A. Bortoff and M. W. Spong, ``Parameter identification using
nonlinear observer theory,'' in Proceedings of the 1990
American Control Conference, June 1990, pp. 1204-1205.
Flexible-Joint Robotic Manipulators
- R. B. Gorbet and S. A. Bortoff, ``Active compensation of flexibility
in belt-driven drivetrains,'' in Proceedings of the 1998
Allerton Conference on Communication, Control and
Computing, Sept. 1998.
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- R. B. Gorbet and S. A. Bortoff, ``A novel approach to vibration
reduction in flexible belt drives,'' (book chapter), in
Fields Institute Workshop on Recent Advances in Control,
Springer Verlag, June 1998. (In press.)
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- S. A. Bortoff, J. Y. Hung, and M. W. Spong, ``A discrete-time
observer for flexible joint robots,'' in Proc. 28th IEEE
Conference on Decision and
Control, (Tampa, FL), 1989, pp. 2078-2082.
- M. W. Spong, J. Y. Hung, S. A. Bortoff, and F. Ghorbel, ``A
comparison of feedback linearization and singular perturbation
techniques for the control of flexible joint robots,'' in
Proceedings of the 1989 American Control Conference, 1989,
pp. 25-30.
- J. Y. Hung, S. A. Bortoff and M. W. Spong, ``Observer-based control
guaranteeing uniform ultimate boundedness for a class of feedback
linearizable systems,'' Proc. IEEE Conference on Robotics and
Automation, (Pheonix, AZ), 1989.
- S. A. Bortoff and M. W. Spong, ``Feedback linearization of
flexible joint robots,'' in Proc. 26th IEEE Conf. on Decision
and Control, (Los Angeles, CA), 1987, pp. 1357-1362.
Intelligent Highways and Vehicle Systems (IVHS)
- R. Kohan and S. A. Bortoff, ``An observer for for highway traffic
systems,'' in Proceedings of the 1998 IEEE Conference on Decision
and Control, (Tampa, FL), Dec. 1998. (To appear.)
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- S. A. Bortoff and R. B. Kraft, Development of Software to Estimate
Road Travel Times from Transit Route Data: Executive Summary,
submitted to the Ministry of Transportation of Ontario
under Contract Number 34602, Agreement Number 2170-9393-705,
February 1995.
- R. B. Kraft and S. A. Bortoff, Development of Software to
Estimate Road Travel Times from Transit Route Data: Software User's
Guide and Documentation, Technical Report Number 9412, Systems
Control Group, University of Toronto, Toronto, Ontario M5S 1A4,
Canada, February 1995.
Miscellaneous
- D. E. Davison and S. A. Bortoff, Acrobot software and hardware
guide, Technical Report Number 9406, Systems Control Group,
University of Toronto, Toronto, Ontario M5S 1A4, Canada, June 1994.
- S. A. Bortoff, Pseudolinearization using Spline Functions with
Application to the Acrobot. Ph.D. thesis, University of Illinois
at Urbana-Champaign, 1992.
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bortoff@control.toronto.edu