Publications

For more recent publications, please go to Lucy's Google Scholar page.

• R. A. Braker and L. Y. Pao, "Proximate Time-Optimal Control of a Harmonic Oscillator," accepted for publication in the IEEE Trans. Automatic Control, expected to appear in the June 2018 issue.
• R. A. Braker and L. Y. Pao, "An Application of the Fast Gradient Method to Model Predictive Control of an Atomic Force Microscope X-Y Stage,"Proc. IEEE Conf. Control Technology and Applications, Kohala Coast, HI, Aug. 2017.
• K. Garifi, L. Pao, and B. Touri, "Model Predictive Control for Track Following and Disturbance Rejection in a Tape Drive System," Proc. IFAC World Congress, Toulouse, France, pp. 11351-11356, July 2017.
• R. A. Braker and L. Y. Pao, "Fast Setpoint Tracking of an Atomic Force Microscope X-Y Stage via Optimal Trajectory Tracking," Proc. American Control Conf., Seattle, WA, pp. 2875-2881, May 2017.
• R. A. Braker and L. Y. Pao, "Proximate Time-Optimal Reference Tracking of an Undamped Harmonic Oscillator," Proc. American Control Conf., Boston, MA, pp. 6221-6226, July 2016.
• R. A. Braker and L. Y. Pao, "Proximate Time-Optimal Control of a Second-Order Flexible Structure," Proc. IEEE Multi-Conference on Systems and Control, Sydney, Australia, pp. 840-845, Sep. 2015.
• H. Zhong and L. Y. Pao, "H2 Model Matching Feedforward Control for Tape Head Positioning Servo Systems," Proc. American Control Conf., Washington, D.C., pp. 4511-4516, June 2013.
• H. Chen, Y. Li, and L. Y. Pao, "Intersample Ripple Resulting from Discrete-Time Feedforward Control," Proc. American Control Conf., Washington, D.C., pp. 4122-4127, June 2013.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "Analysis and Comparison of Three Discrete-Time Feedforward Model-Inverse Control Techniques for Nonminimum-Phase Systems," IFAC J. Mechatronics, 22(5): 577-587, Aug. 2012, available online 12 March 2012. 
• S. B. Andersson and L. Y. Pao, "Non-Raster Sampling in Atomic Force Microscopy: A Compressed Sensing Approach," Proc. American Control Conf., Montreal, Canada, pp. 2485-2490, June 2012.
• H. Zhong, L. Y. Pao, and R. A. de Callafon, "Feedforward Control for Disturbance Rejection: Model Matching and Other Methods," Proc. Chinese Conf. Decision and Control, Taiyuan, China, 6 pages, May 2012.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "A Discrete-Time Single-Parameter Combined Feedforward/Feedback Adaptive-Delay Algorithm with Applications to Piezo-Based Raster Tracking," IEEE Trans. Control Systems Technology, 20(2): 416-423, March 2012.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "Fitting Discrete-Time Models to Frequency Responses for Systems with Transport Deley," Proc. Int. Mech. Eng. Congress & Expo., Denver, CO, Nov. 2011.
• M. P. Chaffe and L. Y. Pao. "Iterative Learning Control for Near-Field Scanning Optical Microscope Applications," Proc. IEEE Multi-Conf. Systems and Control, Denver, CO, pp. 1075-1080, Sept. 2011.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "Dual-Adaptive Feedforward Control for Raster Tracking with Applications to AFMs,"Proc. IEEE Multi-Conf. Systems and Control, Denver, CO, pp. 1081-1087, Sept. 2011.
• H. Zhong and L. Y. Pao. "Combined Feedforward/Feedback Control for Tape Head Track-Following Servo System," Proc. IFAC World Congress, Milan, Italy, pp. 4040-4045, Aug. 2011.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "A Comparison of ILC Architectures for Nanopositioners with Applications to AFM Raster Tracking," Proc. American Control Conf., San Francisco, CA, pp. 2266-2271, June 2011.
• Jeffrey A. Butterworth, L. Y. Pao, and D. Y. Abramovitch. "Adaptive Delay in Combined Feedforward/Feedback Control for Raster Tracking in Atomic Force Microscopes," Proc. American Control Conf., Baltimore, MD, pp. 5738-5744, June 2010. 
• B. P. Rigney, L. Y. Pao, and D. A. Lawrence. " Nonminimum Phase Adaptive Inverse Control for Settle Performance Applications," IFAC J. Mechatronics, 20(1): 35-44, Feb. 2010. 
• 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. 
• 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. 
• 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. 
• L. Y. Pao. "Research in Control Systems, Sensor Fusion, and Haptic Interfaces," Acta Automatica Sinica, 31(1): 75-83, Jan. 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.