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Lecture Notes in Electrical Engineering 321 António Paulo Moreira Aníbal Matos Germano Veiga Editors CONTROLO’2014 - Proceedings of the 11th Portuguese Conference on Automatic Control Lecture Notes in Electrical Engineering Volume 321 BoardofSerieseditors LeopoldoAngrisani,Napoli,Italy MarcoArteaga,Coyoacán,México SamarjitChakraborty,München,Germany JimingChen,Hangzhou,P.R.China TanKayChen,Singapore,Singapore RüdigerDillmann,Karlsruhe,Germany HaibinDuan,Beijing,China GianluigiFerrari,Parma,Italy ManuelFerre,Madrid,Spain SandraHirche,München,Germany FaryarJabbari,Irvine,USA JanuszKacprzyk,Warsaw,Poland AlaaKhamis,NewCairoCity,Egypt TorstenKroeger,Stanford,USA TanCherMing,Singapore,Singapore WolfgangMinker,Ulm,Germany PradeepMisra,Dayton,USA SebastianMöller,Berlin,Germany SubhasMukhopadyay,Palmerston,NewZealand Cun-ZhengNing,Tempe,USA ToyoakiNishida,Sakyo-ku,Japan FedericaPascucci,Roma,Italy TariqSamad,Minneapolis,USA GanWoonSeng,NanyangAvenue,Singapore GermanoVeiga,Porto,Portugal HaitaoWu,Beijing,China JunjieJamesZhang,Charlotte,USA AboutthisSeries “Lecture Notes in Electrical Engineering(LNEE)” is a book series which reportsthe latestresearchanddevelopmentsinElectricalEngineering,namely: • Communication,Networks,andInformationTheory • ComputerEngineering • Signal,Image,SpeechandInformationProcessing • CircuitsandSystems • Bioengineering LNEEpublishesauthoredmonographsandcontributedvolumeswhichpresentcutting edgeresearchinformationaswellasnewperspectivesonclassicalfields,whilemain- taining Springer’s high standards of academic excellence. Also considered for publication are lecture materials, proceedings,and other related materials of exceptionally high quality and interest. The subject matter should be original and timely, reporting thelatestresearchanddevelopmentsinallareasofelectricalengineering. The audience for the books in LNEE consists of advanced level students, re- searchers, and industry professionals working at the forefront of their fields. Much likeSpringer’sotherLectureNotesseries,LNEEwillbedistributedthroughSpringer’s printandelectronicpublishingchannels. Moreinformationaboutthisseriesathttp://www.springer.com/series/7818 · António Paulo Moreira Aníbal Matos Germano Veiga Editors CONTROLO’2014 - Proceedings of the 11th Portuguese Conference on Automatic Control ABC Editors AntónioPauloMoreira GermanoVeiga FacultyofEngineering INESCPortoCampusdaFEUP UniversityofPorto Porto Porto Portugal Portugal AníbalMatos FacultyofEngineering UniversityofPorto Porto Portugal ISSN1876-1100 ISSN1876-1119 (electronic) ISBN978-3-319-10379-2 ISBN978-3-319-10380-8 (eBook) DOI10.1007/978-3-319-10380-8 LibraryofCongressControlNumber:2014947128 SpringerChamHeidelbergNewYorkDordrechtLondon (cid:2)c SpringerInternationalPublishingSwitzerland2015 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe materialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broad- casting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformationstorage andretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknown orhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnectionwithreviews orscholarly analysis ormaterial suppliedspecifically forthepurposeofbeingentered andexecuted ona computersystem,forexclusive usebythepurchaser ofthework.Duplication ofthis publication orparts thereofispermittedonlyundertheprovisionsoftheCopyrightLawofthePublisher’slocation,initscur- rentversion,andpermissionforusemustalways beobtained fromSpringer. Permissionsforusemaybe obtainedthroughRightsLinkattheCopyrightClearanceCenter.Violationsareliabletoprosecutionunder therespectiveCopyrightLaw. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. Whiletheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication, neither the authors northe editors nor the publisher can accept any legal responsibility for any errors or omissionsthatmaybemade.Thepublishermakesnowarranty,expressorimplied,withrespecttothematerial containedherein. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface CONTROLO 2014 – 11th Conference on Automatic Control in Porto, Portugal, July 21th to 23th, 2014, was organized by INESC TEC, in partnership with FEUP (Fac- uldade de Engenharia da Universidade de Porto), ISEP (Instituto Superior de Engen- hariadoPorto)andAPCA thePortugueseAssociationofAutomaticControlwhichis a nationalmember organizationof the InternationalFederation of Automatic Control (IFAC). The conference is Sponsored by APCA the Portuguese Association of Automatic ControlwiththreepartnerinstitutionsSBA-SociedadeBrasileiradeAutomática,CEA -ComitéEspañoldeAutomáticaandSPR-SociedadePortuguesadeRobótica. We would like to thank the invaluable contribution of the International Program CommitteeMembers,ExternalReviewers,KeynoteSpeakers,SessionsChairsandAu- thors.WewouldalsoliketoacknowledgeEasychairfortheirConferenceManagement System,whichwasfreelyusedformanagingthepapersubmissionandevaluationpro- cessesofCONTROLO2014. Theseproceedingspresentpeer-reviewedpapersfromawiderangeoftopicsinclud- ing different areas of control compiled in the first 6 chapters, Decision, Estimation andModellinginchapters7,8and9,RoboticsandSensinginChapters10and11and finallyEducationinchapter12. AntónioPauloMoreira AníbalMatos GermanoVeiga Organization General Chair AntónioPauloMoreira FEUP/Dep.Eng.Electrotécnicaede Computadores–INESCTEC Vice-Chair AnibalMatos FEUP/Dep.Eng.Electrotécnicaede Computadores–INESCTEC OrganizingCommittee AnibalMatos FEUP/Dep.Eng.Electrotécnicaede Computadores–INESCTEC AntónioPauloMoreira FEUP/Dep.Eng.Electrotécnicaede Computadores–INESCTEC FernandoGomesdeAlmeida FEUP/Dep.Mecânica–IDMEC-LAETA FernandoMartins FEUP/Dep.Eng.Química-LEPAE GermanoVeiga INESCTEC/UnidadedeRobóticaeSistemas Inteligentes JoséBoaventuraDaCunha UTAD/Dep.Engenharias(Eng.Electrotécnica)– INESCTEC ManuelFernandoSilva ISEP-IPP/DepartamentodeEngenharia Electrotécnica–INESCTEC MariadoRosáriodePinho FEUP/Dep.Eng.Electrotécnicaede Computadores–ISR-Porto PedroCosta FEUP/Dep.Eng.Electrotécnicaede Computadores–INESCTEC Scientific Committee A.PedroAguiar UniversidadedoPortoPortugal AlbertoIsidori UniversitydiRoma"LaSapienza"Italy VIII Organization AnaAntunes InstitutoPolitecnicodeSetubalPortugal AnaCatarinaCarapito UniversdadedaBeiraInteriorPortugal AnibalMatos UniversidadedoPortoPortugal AntonioBarreiroBlas UniversityofVigoSpain AntonioPascoal InstitutoSuperiorTecnicoPortugal AntonioPauloMoreira UniversidadedoPortoPortugal AntonioRuano UniversidadedoAlgarvePortugal AntonioSala UniversidadPolitecnicadeValenciaSpain CarlosHenriqueSantos UniversidadeEstadualdoOestedoParaná Brazil CarlosSilvestre InstitutoSuperiorTecnicoPortugal CesarPradaMoraga UniversidaddeValladolidSpain ConstantinoLagoa ThePennsylvaniaStateUniversityUSA DamirVrancicJozef StefanInstituteSlovenia EstelaBicho UniversidadedoMinhoPortugal FatimaSilvaLeite UniversidadedeCoimbraPortugal FelipePait UniversityofSaoPauloBrazil FernandoFontes UniversidadedoPortoPortugal FernandoGomesdeAlmeida UniversidadedoPortoPortugal FernandoMartins UniversidadedoPortoPortugal FernandoSilva InstitutoSuperiorTecnicoPortugal FranciscoRubio UniversidaddeSevillaBrazil FrankAllgower UniversityofStuttgartGermany GerardoAcosta UniversitatdelesIllesBalearsSpain GerhardJank RWTH-UniversityofTechnologyGermany GermanoVeiga INESCTECPortugal GiovanniIndiveri UniversityofSalentoItaly GloriaCravo UniversityofMadeiraPortugal HishamAbou-Kandil EcoleNormaleSuperieuredeCACHANFrance IsabelBras UniversidadedeAveiroPortugal JavierSanchisSáez UniversitatPolitècnicadeValènciaSpain JeromeJouffroy UniversityofSourthernDenmarkDenmark JoaoHespanha UniversityofCaliforniaUSA JoaoMiguelSousa InstitutoSuperiorTecnicoPortugal JoaoMirandaLemos INESC-ID/InstitutoSuperiorTecnicoPortugal JoaquimFerreira UniversidadedeAveiroPortugal JobvonAmerongen UniversityofTwenteNetherlands JonasSjoberg ChalmersUniversityofTechnologySweden JorgeFerreira UniversidadedeAveiroPortugal JorgeSaSilva UniversidadedeCoimbraPortugal JoséBoaventuradaCunha UniversidadeTras-os-MonteseAltoDouro Portugal JoséMoreno UniversidadNacionaldeEducaciónaDistancia Spain JoséRagot UniversitédeLorraineFrance Organization IX JoséTenreiroMachado InstitutoSuperiordeEngenhariadoPorto Portugal JoséVieira InstitutoPolitecnicodeCasteloBrancoPortugal JurekSasiadek CarletonUniversityCanada KarolinaBaras UniversidadedaMadeiraPortugal KrzysztofKozlowski PoznanUniversityofTechnologyPoland LeonardoHonorio UniversidadeFederaldeJuizdeForaBrazil LuisGomes UniversidadeNovadeLisboaPortugal LuizdeSiqueiraMartinsFilho UniversidadeFederaldoABCBrazil ManuelDominguezGonzalez UniversidaddeLeonSpain ManuelFernandoSilva InstitutoPolitécnicodoPorto Portugal MariadoRosárioPinho UniversidadedoPortoPortugal MariaGraçaRuano UniversidadedoAlgarvePortugal MiguelAyalaBotto InstitutoSuperiorTecnicoPortugal MiguelBernal SonoraInstituteofTechnologyMexico MorgadoDias UniversityofMadeiraPortugal OscarBarambones UniversidaddelPaísVascoSpain PauloCosta UniversidadedoPortoPortugal PauloGarrido UniversidadedoMinhoPortugal PauloLopesdosSantos UniversidadedoPortoPortugal PauloOliveira InstitutoSuperiorTecnicoPortugal PauloOliveira UniversidadeTras-os-MonteseAltoDouro Portugal PauloSalgado UniversidadeTras-os-MonteseAltoDouro Portugal PedroAlbertos UniversidadPolitecnicadeValenciaSpain PedroCosta UniversidadedoPortoPortugal PedroPeres UniversidadeEstadualdeCampinasBrazil RamiroBarbosa InstitutoSuperiordeEngenhariadoPortoPortugal RamonVilanova UniversitatAutònomadeBarcelonaSpain RobertHarrison UniversityofSheffieldUK RolfJohansson LundUniversitySweden RuiNeves-Silva UniversidadeNovadeLisboaPortugal SilviaBotelho UniversidadeFederaldoRioGrandeBrazil SoniaPinto InstitutoSuperiorTecnicoPortugal TeresaPerdicoulis UniversidadeTras-os-MonteseAltoDouro Portugal TeresaMendonça UniversidadedoPortoPortugal Contents PartI:Control Theory Controllability for the Constrained Rolling Motion of Symplectic Groups .......................................................... 3 AndréMarques,FátimaSilvaLeite MinimalState-SpaceRealizationsofConvolutionalCodes ............... 13 TelmaPinho,RaquelPinto,PaulaRocha SolvabilityofImplicitDifferenceEquations ........................... 23 AramArutyunov,FernandoPereira,SergeyZhukovskiy ControlofaHysteresisModelSubjecttoRandomFailures............... 29 ElmerLévano,AlessandroN.Vargas OntheStudyofComplexImpulsiveSystems........................... 39 DmitryKaramzin,ValerianodeOliveira,GeraldoSilva,FernandoL.Pereira PartII:Model PredictiveControl PromotingCollaborativeRelationsatIntermodalHubsUsinganIterative MPCApproach ................................................... 51 JoãoLemosNabais,LuísF.Mendonça,MiguelAyalaBotto Structures’InfluenceonModel-PlantMismatchDetectionMethodsin MPCUsingPartialCorrelation...................................... 61 MarcosV.Loeff,AndréS.R.Kuramoto,ClaudioGarcia OnPerformance of Distributed ModelPredictive Controlin Power SystemFrequencyRegulation ....................................... 71 LuísM.Monteiro,JoséManuelIgreja

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Author:	António Paulo Moreira, Aníbal Matos, Germano Veiga (eds.)
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