Seminar Archive

Fall 2006

• October 13:
  Prof Miroslav Krstic, UCSD
  "Boundary Control of PDEs and Applications to Flows and Flexible Structures"
  Friday, 3:30pm, Boelter Penthouse

• October 20:
  Prof Paulo Tabuada, UCLA
  "Abstractions in Systems and Control Theory"
  Friday, 3:30pm, Boelter Penthouse

• October 27:
  Prof Michael Safonov, USC
  "Robust Adaptation and Learning: Unfalsified Control and Cost-Detectability"
  Friday, 3:30pm, Boelter Penthouse

• November 3:
  Dr Danielle Tarraf, MIT
  "Automata Theory, Robust Control and Hybrid Systems Design"
  Friday, 3:30pm, Boelter Penthouse

• November 10:
  Prof Ari Arapostathis, UT Austin
  "Optimal Sensor Querying in the Infinite Horizon: The LQG and Finite State Markov Decision Models"
  Friday, 3:30pm, Boelter Penthouse

• November 17:
  Dr Maryam Fazel, Caltech
  "Sum-of-Squares Optimization and Network Resource Allocation"
  Friday, 3:30pm, Boelter Penthouse

• December 1:
  Dr George Kotsalis, MIT
  Friday, 3:30pm, Boelter Penthouse
  "Model Reduction for Hidden Markov Models"

• December 4:
  Prof Sanjay Lall, Stanford
  Monday, 4:00pm, Boelter Penthouse
  "Computation of Decentralized Control Systems"

• December 8: Double Seminar
  Prof Eduardo F. Camacho
  "Stability and Robustness Issues in Nonlinear MPC"
  Prof Elena De Santis, University of L'Aquila
  "Theory and Computation of Discrete State Space Decompositions for Hybrid Systems"
  Friday, 3:00pm, Boelter Penthouse

• December 11: Double Seminar
  Prof Petros Voulgaris, UIUC
  "Perfect Signal Reconstruction: A Robust Control Perspective"
  Dr Sridevi Sarma, MIT
  "Finite-Rate Control: Stability and Performance"
  Monday, 2:00pm, Boelter Penthouse

---

Spring 2006

• April 3: Monday, 3:00pm, 38-138 Eng IV (**NOTE: Different day/place/time**)
  Speaker: Prof Alberto Bemporad, University of Siena, Italy
  "Model Predictive Control of Hybrid Dynamical Systems"

• April 14: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr David Muñoz de la Peña
  "Model Predictive Control for Uncertain Systems"

• April 21: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof Francesco Bullo, University of California-Santa Barbara
  "Motion Coordination for Multi-Agent Networks"

• April 28: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof Kristina Lerman, USC
  "Analyzing Swarms: A Stochastic Systems Approach to Studying Robotic Swarm Behavior"

• May 5: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof Michael Gevelber, Boston University
  "Advanced control for improving materials processing capabilities: Examples from e-beam deposition for optical coatings and plasma spray of TBC and fuel cells"

• May 12: 5th Annual UCLA Systems & Controls Symposium
  Plenary Speaker: Prof James Rawlings, University of Wisconsin-Madison

• May 19: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof Mehran Mesbahi, University of Washington-Seattle
  "Dynamics and control over graphs: an eclectic set of problems and results"

• May 26: Seminar deferred for UCLA Marschak Colloquium
  Speaker: Prof Duncan Watts, Columbia University

• June 2: Seminar deferred for 12th SoCal Nonlinear Control Workshop

• June 6: Tuesday, 2:00pm, 4275 Boelter Hall
  Speaker: Prof Geir Dullerud, University of Illinois, Urbana-Champaign
  "Control of networked and distributed heterogeneoussystems"

• June 9: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof Panagiotis Tsiotras, Georgia Institute of Technology
  "Putting the dynamics back to control: The case of IPACS control design"
  

---

Winter 2006

• January 17: Tuesday, 4:00pm, 57-124 Eng IV (**NOTE: Different day/place/time**)
  Speaker: Dr. Constantine Caramanis, MIT
  "Adaptable Optimization"

• January 26: Thursday, 4:00pm, 57-124 Eng IV (**NOTE: Different day/place/time**)
  Speaker: Prof. Paulo Tabuada, University of Notre Dame
  "On the synthesis of correct by design embedded control software"

• February 10: Friday, 3:30pm, Boelter Penthouse
  Speaker: George Chasparis, UCLA
  "Stability of multiagent systems with time-dependent communication links" by Luc Moreau, IEEE Transactions on Automatic Control, Vol. 50, No. 2, February 2005.

• February 16: Thursday, 2:00pm, 7629 Math Sciences (**NOTE: Different day/place/time**)
  Speaker: Zhipu Jin, Caltech
  "State estimation over packet dropping networks"

• February 24: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr. Alessandro Arsie, UCLA
  "Coverage and hole detection in sensor networks via homology"

• March 3: Week of IPAM Workshop on Swarming

• March 7: Tuesday, 2:00pm, Boelter Penthouse (**NOTE: Different day/time**)
  Speaker: Prof. Naira Hovakimyan
  "Synthesis and analysis of novel stable adaptive control architectures with guaranteed transient performance"
  
  
• March 10: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr. Cedric Langbort, Caltech & University of Illinois at Urbana-Champagne
  "On the price of information in distributed control design "

• March 17: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof. Athanasios Sideris, UC Irvine
  "Learning from data with support vector machines: Geometric perspectives and new algorithms"
  

---

Fall 2005

• October 7: Friday, 3:30pm, Boelter Penthouse
  Speaker: Ronald Cubalchini, Raytheon Co.
  " Control of Precision Pointing Systems"

• October 21: Friday, 1:30pm, Boelter Penthouse (**note different time**)
  Speaker: Prof. Yannis Kevrekidis, Department of Chemical Engineering, Princeton University.
  "Equation free computation for complex/multiscale systems"

• November 4: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr. Georg Schitter, Physics Department, UC Santa Barbara.
  "Mechatronics and control for high-speed atomic force microscopy"

• November 11: No seminar (SoCal Nonlinear Control Workshop)

• November 21: Friday, 4:00pm, 38-138, Engineering IV (**note different day/place/time**)
  Speaker: Dr. Antonis Papachristodoulou, Oxford University.
  "Analysis methods for small-scale and large-scale systems"

• November 25: No seminar (Thanksgiving)
  
  
• December 2: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prof. Daniel Rivera, Department of Chemical Engineering, Arizona State University
  "Inventory management in supply chains: Insights gained from a process control perspective"
  
  
• December 9: Friday, 3:30pm, Boelter Penthouse
  Speaker: Pavel Orzechowski, MAE, UCLA
  "Adaptive control of jitter in a laser beam pointing system"

---

Spring 2005

• April 15: Friday, 3:30pm, Boelter Penthouse
  Speaker: Prashant Mhaskar, ChemE, UCLA.
•  “Constrained model predictive control: Stability and optimality”
  Mayne et al, Automatica, Vol. 36, pp. 789-814, 2000.
• “Uniting bounded control and MPC for stabilization of constrained linear systems”
  El-Farra, Mhaskar, and Christofides, Automatica, Vol. 40, pp. 101-110, 2004.

• April 29: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr. Daniel Choukroun, MAE, UCLA.
  ”On quadratic control and sequential optimal filtering of jump-linear systems”

• May 6: Friday, 3:30pm, Boelter Penthouse
  Speaker: Georgios Chasparis, MAE, UCLA.
  • "A dynamic model of social network formation"
    Skyrms and Pemantle, Proceedings of the National Academy of Sciences, Vol 97, pp. 9340-9346, 2004.

• May 13-14: Friday, SoCal Nonlinear Control Workshop (UCSD)

• May 20: UCLA Systems and Controls Symposium

• June 10: No seminar (American Control Conference)
  

---

Winter 2005

• January 14: Friday, 3:30pm, Boelter Penthouse
  Speaker: Jason Marden, MAE
  "Fictitious play for finding system optimal routings in dynamic traffic networks"
  Transportation Research B, Methods, Vol. 34, No. 2, pp. 147-156, January 2000.

• January 21: Friday, 3:30pm, Boelter Penthouse
  Speaker: Domitilla del Vecchio, Caltech.
  "Discrete State Estimators for Systems on a Lattice with Application to Distributed Estimation Problems"

• January 28: Friday, 3:30pm, Boelter Penthouse
  Speaker: Jim Lin, MAE.
  "Robust Control Prevents Car Skidding" (additional references 1, 2)
  Juergen Ackermann 1996 Bode Prize Lecture

• February 4: Friday, 3:30pm, Boelter Penthouse
  Speaker: Stephen Prajna, Caltech.
  "Optimization-Based Methods for Nonlinear and Hybrid Systems Verification"

• February 11: Friday, 3:30pm, Boelter Penthouse
  Speaker: Junqing Wang, MAE.
  "String Stability of Interconnected Systems"
  IEEE Transactions on Automatic Control, Vol. 41, No. 3, March 1996, pp.349-357.

• February 18: Friday, 3:30pm, Boelter Penthouse
  Speaker: Professor Joel Burdick, Caltech.
  "Engineering a Neural Prosthetic"

• February 25: Friday, 3:30pm, Boelter Penthouse
  Speaker: Dr. Reza Olfati-Saber, UCLA.
  "Scalable Coordination of Networked Systems and Collaborative Sensor Fusion"

• March 4: Friday, 3:30pm, Boelter Penthouse
  Speaker: Professor Vincent Tyrone, Colorado School of Mines.
  "Input Design for Ratio Estimates, with Application to Thin Film Processing"

• March 11: Friday, 3:30pm, Boelter Penthouse
  Speaker: Professor Tarek Zohdi, University of California, Berkeley.
  "Modeling and Simulation of Multiscale-Multiphysics Inverse Problems"
  

Fall 2004

• October 8: Friday, 3pm, MS Bldg, Room 5200
  Speaker: K. Krishnamoorthy, MAE
  "A new approach to linear filtering and prediction problems"
  Transactions of ASME, Journal of Engineering, 1960

• October 15: Friday, 3pm, MS Bldg, Room 5200
  Speaker: Professor Andrea Bertozzi, UCLA.
  "Coordinating multiple autonomous vehicles"

• October 20: Wednesday, 4pm, Eng IV, Room 57-124
  Speaker: Professor Anders Rantzer, Lund.
  "On convexity and relaxation in nonlinear and hybrid control"

• October 29: Cancelled

• November 5: Friday, 3pm, MS Bldg, Room 5200
  Speaker: Dr. Mahbub Gani, King's College.
  "Control of mobile sensor networks for acoustic source localisation"

• November 12
  Speaker: Professor Kameshwar Poolla, UC Berkeley.
  "Wireless metrology and process control in semiconductor manufacturing"

• November 19: SoCal Nonlinear Control Workshop (to be held at UCLA)

• November 26: Thanksgiving

• December 3:
  Speaker: Dr. Maryam Fazel, Caltech.
  "Nonconcave network utility maximization using sum-of-squares methods"

• December 10:
  Speaker: Professor Yoshito Ohta, Osaka University.
  "Abstract linear programming approach to control problems"

Spring 2004
Theme: Adaptive Control

• April 9
  Speaker: Prashant Mhaskar, Department of Chemical Engineering, UCLA
  Reference: B. Martensson, "The order of any stabilizing regulator is sufficient a priori information for adaptive stabilization"
  Systems & Control Letters, Vol. 6.
  3:00pm - 4:00pm, Engineering IV, 38-138

• April 16
  Speaker: Prashant Mhaskar, Department of Chemical Engineering, UCLA
  References: J.P. Hespanha, D. Liberzon, A.S. Morse, "Overcoming the limitations of adaptive control by means of logic based switching".
  Systems & Control Letters, Vol. 49, 2003.
  J.P. Hespanha and A.S. Morse, "Certainty equivalence implies detectability".
  Systems & Control Letters, Vol. 36, 1999.

• April 23
  Speaker: Professor Venkatesh Saligrama, Department of Electrical and Computer Engineering, Boston University
  "Statistical Signal Processing over Networks"
  3:00pm - 4:00pm, Engineering IV, 38-138

• May 12
  Speaker: Dr. Greg Calbert, DSTO, Australian Department of Defense
  "Operational level war-gaming using minimax based reinforcement learning: Techniques, issues and challenges"

• May 14
  Speaker: Professor Petros Ioannou, Department of Electrical Engineering-Systems, USC
  "Adaptive Control: Past and Present Results"

• May 28: UCLA Systems & Control Symposium
  Plenary Speaker: Professor Munther Dahleh, Department of Electrical Engineering and Computer Science, MIT

• June 4
  Speaker: Professor Art Krener, Department of Mathematics, University of California-Davis
  "The Global Convergence of the Minimum Energy Estimator and the Local Convergence of the Extended Kalman Filter"

• June 11
  Speaker: Elisa Franco, Department of Electircal, Electronic and Computer Engineering, University of Trieste
  "Cooperative control of discrete time agents with delayed information exchange: A receding horizon approach"

• June 25
  Speaker: Dr. Katrina Lau, Centre for Integrated Dynamics and Control, The University of Newcastle
  "Two Problems on Performance Limitations in Feedback Systems

Winter 2004
Theme: Adaptive Control

• January 23
  Speaker: Prashant Mhaskar, Department of Chemical Engineering, UCLA
  Reference: "Systematic Design of Adaptive Controllers for Feedback Linearizable Systems"
  IEEE Transactions on Automatic Control, Vol. 36 by I. Kanellakopoulos, P. V. Kokotovic and A. S. Morse
  3:00pm - 4:00pm, Engineering IV, 38-138

• March 5
  Speaker: Rajiv Maheswaran, University of Southern California
  "Market-Based Control for Multi-Agent Systems: A Game-Theoretic Approach to Allocating Divisible Resources"
  3:00pm - 4:00pm, Engineering IV, 38-138

• March 19
  Speaker: Izhak Bucher, Technion, Israel Institute of Technology
  "Tailoring the Dynamics of a Miniature (MEMS) Scanning Mirror"
  3:00pm - 4:00pm, Engineering IV, 38-138

Fall 2003
Theme: Adaptive Control

• October 3:
  Ibrahim Al-Shyoukh
  Reference: P. Ioannou, "Model Reference Adaptive Control", CRC Control
  Handbook, pp.847-857.

• October 10:
  Professor Frank Allgower, Director, Institute for Systems Theory in Engineering
  Department of Mechanical Engineering
  University of Stuttgart
  “Nonlinear Model Predictive Control: >From Theory to Application”

• October 16:
  David Wolpert, NASA Ames Research Center
  “From Game Theory to Distributed Optimization and Back Again”

• October 23:
  Benjamin Shapiro, University of Maryland at College Park
  “Flow Control Inside Micro-Fluidic Systems”

• November 7:
  Carmeliza Navasca, Department of Mathematics, UCLA
  “Hamilton-Jacobi-Bellman (HJB) Equations”

• December 5:
  Itzhack Y. Bar-Itzhack
  Faculty of Aerospace Engineering
  Technion-Israel Institute of Technology
  “The Evolution of Inertial Navigation”

Spring 2003
Theme: Cooperative Control

• April 11:
  Speaker: Gurdal Arslan (MAE)
  Reference: "Stability Analysis of Swarms" by V. Gazi & K. Passino, 2001.

• April 25:
  Speaker: Prashant Mhaskar (ChE)
  References: Kothare, SLD and M. Morari. Contractive model predictive control for constrained linear systems, IEEE Trans. Automat. Contr. 45(6): 1053-1071, 2000 June.Camponogara E, Jia D, Krogh BH, Talukdar S. Distributed model predictive control, IEEE Control Systems Magazine. 22 (1): 44-52 2002 Feb.

• May 2:
  Speaker: Jonathan Wolfe (MAE)
  Reference: Graph Laplacians and Stabilization of Vehicle Formations, Fax & Murray, 2001.

• June 6:
  Speaker: Gurdal Arslan (MAE)
  Reference: Learning in Games, R. Vohra.
  Presentation at "Multi-Agent Learning: Theory and Practice Workshop"

Winter 2003
Theme: Model Predictive Control

• January 17:
  Speaker: Prashant Mhaskar (ChE)
  References: Rawlings JB. Tutorial overview of model predictive control. IEEE Control Systems Magazine. 20(3):38-52, 2000 June Mayne DQ. Rawlings JB. Rao CV. Scokaert POM. Constrained model predictive control: Stability and optimality, Automatica. 36(6):789-814, 2000 June.

• January 29: 
  Professor Steve Rock, Stanford University
  Department of Mechanical and Environmental Engineering
  "Intelligent Robots for Undersea (and Space) Exploration"

• February 7:
  Dr Eric Klavins, Caltech
  Department of Computer Science
  "Coordinated Behavior in Decentralized Robotic Systems"

• February 14:
  Speaker: Ahmad Fattahi (EE)
  References: A. Jadbabaie, J. Yu, and J. Hauser. Unconstrained receding horizon control of nonlinear systems, IEEE Transactions on Automatic Control, May 2001, pp. 776-783. 

• February 21:
  Dr Jorge Goncalves, Caltech
  Department of Control and Dynamical Systems
  "Constructive Analysis of Piecewise Linear Systems"

• March 6:
  Professor Michael Demetriou, Worcester Polytechnic Institute
  Department of Mechanical Engineering
  "Some remarks on the placement, allocation and scheduling of actuators in distributed parameter systems"

• March 13:
  Professor Roberto Horowitz, University of California at Berkeley
  Department of Mechanical Engineering
  "Dual state servo systems in computer hard disk drives"

• March 20:
  Professor Emilio Frazzoli, University of Illinois, Urbana-Champagne
  Department of Aeronautical and Astronautical Engineering
  "Formal languages for multiple vehicle motion planning and coordination"

Fall 2002
Theme: Control of/over Networks

• October 11: 3pm, 57-124 Eng IV
  Professor Karl Astrom, UCSB
  Department of Mechanical and Environmental Engineering
  "Control: The Hidden Technology"

• October 18:
  Speaker: Zhikui Wang (EE)
  Reference: F.P. Kelly, A. Maulloo, and D. Tan, "Rate control for communication networks: Shadow prices, proportional fairness and stability", Jour. Op. Res. Soc., 1998.

• October 18:
  Speaker: Zhikui Wang (EE)
  References: (1) F. Paganini, J. Doyle and S. Low, "Scalable Laws for Stable Network Congestion Control", CDC'01. (2) F. Paganini, Z. Wang, S. Low and J. Doyle, "A new TCP/AQM for Stable Operation in Fast Networks", to appear in 2003 IEEE Infocom.

• November 8: 3pm, 37-124 Eng IV
  Dr Reza Olfati-Saber, Caltech
  Department of Control and Dynamical Systems
  "Consensus Problems in Networks of Dynamic Agents"

• November 22: 3pm, 37-124 Eng IV
  Professor Bob Bitmead, UCSD
  Department of Mechanical and Aerospace Engineering
  "Inclusion of State Estimates into Model Predictive Control"

• December 6:
  Speaker: Jiwei Chen (EE)
  Reference: H. Ishii and B. Francis, "Stabilizing a linear system with switching control and dwell times" to appear in IEEE Transactions on Automatic Control.

Spring 2002
Theme: Limitations Revisited

• April 12: Right Half Plane
  Speaker: Dr. Jonathan Wolfe (MAE)
  Reference: J. Freudenberg and D. Looze, "Right half plane poles and zeros and design tradeoffs in feedback systems", IEEE Transactions on Automatic Control, June 1985.

• April 26: Cheap Control & Large Transients
  Speaker: Prof. Debasish Ghose (MAE)
  Reference: B. Francis and K. Glover, "Bounded peaking in the optimal linear regulator with cheap control", IEEE Transactions on Automatic Control, 1978.

• May 24: UCLA Systems & Controls Symposium

• June 7: Nonlinear Peaking
  Speaker: Stevan Dubljevic
  Reference: H. Sussman and P. Kokotovic, "The peaking pheonomenon and the global stabilization of nonlinear systems", IEEE Transactions on Automatic Control, April 1991, pp. 424-440.

Winter 2002
Theme: Hybrid Systems

• January 18: Hybrid Systems & Stability Theory
  Speaker: Nael El-Farra (ChE)
  Reference: R.A. DeCarlo et al, "Perspectives and results on the stability and stabilizability of hybrid systems", Proceedings of the IEEE, July 2000.

• February 1: Hybrid System Modeling & Optimal Control
  Speaker: Federico Najson (MAE)
  Reference: M. Branicky, V. Borkar, S. Mitter, "A unified framework for hybrid control: Modeling and optimal control theory", IEEE TAC, January 1998.

• February 15: Hybrid Systems & Game Theory
  Speaker: Dr. Gurdal Arslan (MAE)
  Reference: C. Tomlin, J. Lygeros, S. Sastry, "A game theoretic approach to controller design for hybrid systems", Proceedings of the IEEE, July 2000.

• March 8:: Hybrid Systems & Constructive Optimal Control
  Speaker: Ahmad Fattahi (EE)
  Reference: S. Hedlund and A. Rantzer, "Optimal control of hybrid systems", 1999 CDC.

• March 15: Hybrid Systems & Quantization
  Speaker: Prashant Mhaskar (ChE)
  Reference: D. Liberzon, "Hybrid feedback stabilization of systems with quantized signals", 2001 preprint.

Fall 2001
Theme: Stochastic Models and Methods

• October 5: "Optimal control of production rate in a failure prone manufacturing system"
  Speaker: Vincent Seah (MAE)
  Reference: R. Akella and P.R. Kumar, "Optimal control of production rate in a failure prone manufacturing system", IEEE TAC, February 1986, pp 116-126.

• October 19: SoCal Nonlinear Control Workshop

• November 2: "Sequential hypothesis testing for detection and isolation"
  Speaker: Jonathan Wolfe (MAE)
  Reference: D.P. Malladi and J.L. Speyer, "A generalized Shiryayev sequential probablity ratio test for change detection and isolation", IEEE TAC, August 1999, pp. 1522-1534.

• November 16: "Modeling of thin film growth using Monte-Carlo techniques"
  Speaker: Yiming Lou (ChemE)
  Reference: Vlachos, G.G., "Multiscale integration hybrid algorithms for homogeneous-heterogeneous reactors", AICHE Journal, November 1997, pp. 3031-3041.

• November 30: "Hierarchical modeling of stochastic networks".
  Speaker: Jiwei Chen (EE)
  Reference: H. Chen and A. Mandelbaum, "Hierarchical modeling of stochastic networks, Part I: Fluid models", in Stochastic Modeling and Analysis of Manufacturing Systems, D. Yao (ed), Springer-Verlag, 1994, pp. 47-100.

Spring 2001
Theme: Nonlinear Stability Analysis

• April 13: "Input-to-State Stability and Related Concepts"
  Speaker: Dr. Mikhail Krichman (MAE)
  Reference: E.D. Sontag, "The ISS philosophy as a unifying framework for stability-like behavior"

• April 27: "Classical I/O Analysis"
  Speaker: Li Li (EE)
  References: G. Zames, "On the input-output stability of time-varying non-linear feedback systems: Part I: Conditions derived using concepts of loop gain, conicity, and positivity", IEEE Trans. Automatic Control, vol. AC-11, no. 2, pp. 228-238, 1966; "Part II: Conditions involving circles in the frequency plane and sector nonlinearities", IEEE Trans. Automatic Control, vol. AC-11, no. 2, pp. 465-476, 1966.

• May 11: "Nonlinear Small Gain Theorm"
  Speaker: Jonathan Wolfe (MAE)
  Reference: A.R. Teel, "On graphs, conic relations, and input-output stability of nonlinear feedback systems", IEEE Transactions on Automatic Control, May 1996, vol. AC-41, no. 5, pp. 702-709.

• May 25: "Converse Lyapunov Theorems"
  Speaker: Nael El-Farra (ChE)
  Reference: Y. Lin, E. Sontag, and Y. Wang, "A smooth converse Lyapunov theorem for robust stability", SIAM J. Control and Optimization, 34(1996):124-160.

• June 8: "Two-Time Scale Analysis"
  Speaker: Antonio Armaou (ChE)
  Reference: A. Teel, J. Peuteman, D. Aeyels, "Semi-global practical asymptotic stability and averaging", Systems & Control Letters, 37(1999): 329-334.