Department of Electrical and Computer Engineering

Thompson Engineering Building,

Room TEB 357

Western University

Tel: 519-661-2111 ext. 88575

Fax: 519-661-2436

ipolushi@uwo.ca

- Abdessameud A., A.Tayebi, I. G. Polushin ``Leader-Follower Synchronization of Euler-Lagrange Systems with Time-Varying Leader Trajectory and Constrained Discrete-Time Communication,'' IEEE Transactions on Automatic Control, 2017, Vol. 62, No. 5, pp. 2539 - 2545.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Distributed Coordination of Dynamical Multi-agent Systems Under Directed Graphs and Constrained Information Exchange,'' IEEE Transactions on Automatic Control, 2017, Vol. 62, No. 4, pp. 1668 - 1683.
- Atashzar S. F., I. G. Polushin, R. V. Patel ``A Small-Gain Approach for Non-Passive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis,'' IEEE Transactions on Robotics, 2017, Vol. 33, No. 1, pp. 49 - 66.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Synchronization of Nonlinear Systems with Communication Delays and Intermittent Information Exchange,'' Automatica, 2015, Vol. 59, pp. 1 - 8.
- Takhmar A., I. G. Polushin, A. Talasaz, R.V. Patel ``Cooperative Teleoperation with Projection-Based Force Reflection for MIS,'' IEEE Transactions on Control Systems Technology, 2015, Vol. 23, No. 4, pp. 1411 - 1426.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Motion Coordination of Thrust-Propelled Underactuated Vehicles with Intermittent and Delayed Communications,'' Systems & Control Letters, 2015, Vol. 79, pp. 15 - 22.
- Polushin I.G., A. Takhmar, R.V. Patel ``Projection-Based Force Reflection Algorithms with Frequency Separation for Bilateral Teleoperation,'' IEEE/ASME Transactions on Mechatronics, 2015, Vol. 20, No. 1, pp. 143 - 154.
- Polushin I. G., M. Z. Hasan ``L2-Stability of Haptic Systems with Projection-Based Force Reflection,'' IEEE Transactions on Haptics, 2014, Vol. 7, No. 3, pp. 405 - 410.
- Polushin I. G. ``A Generalization of the Scattering Transformation for Conic Systems,'' IEEE Transactions on Automatic Control, 2014, Vol. 59, No. 7, pp. 1989 - 1995.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Synchronization of Lagrangian Systems with Irregular Communication Delays,'' IEEE Transactions on Automatic Control, 2014, Vol. 59, No. 1, pp. 187 - 193.
- Shah F., I. G. Polushin ``Design of Telerobotic Drilling Control System with Haptic Feedback,'' Journal of Control Science and Engineering, 2013, Article ID 901610, pp. 1 - 15.
- Polushin I.G., S.N. Dashkovskiy, A. Takhmar, R.V. Patel ``A Small Gain Framework for Networked Cooperative Force-Reflecting Teleoperation,'' Automatica, 2013, Vol. 49, No. 2, pp. 338 - 348.
- Abdessameud A., A.Tayebi, I. G. Polushin ``Attitude Synchronization of Multiple Rigid Bodies with Communication Delays,'' IEEE Transactions on Automatic Control, 2012, Vol. 57, No. 9, pp. 2405 - 2411.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Stability of Bilateral Teleoperators with Generalized Projection-Based Force Reflection Algorithms,'' Automatica, 2012, Vol. 48, No. 6, pp. 1005 - 1016.
- Polushin I.G., P.X. Liu, C.-H. Lung, and G.D. On ``Position-Error Based Schemes for Bilateral Teleoperation with Time Delay: Theory and Experiments,'' ASME Journal of Dynamic Systems, Measurement and Control, 2010, Vol. 132, No.3.
- Polushin I. G., H. J. Marquez, A. Tayebi, and P. X. Liu ``A Multichannel IOS Small Gain Theorem for Systems with Multiple Time-Varying Communication Delays,'' IEEE Transactions on Automatic Control, 2009, Vol. 54, No. 2, pp. 404 - 409.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``On the Model-Based Approach to Nonlinear Networked Control Systems,'' Automatica, 2008, Vol. 44, No. 9, pp. 2409 - 2414.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Projection-Based Force Reflection Algorithm for Stable Bilateral Teleoperation over Networks,'' IEEE Transactions on Instrumentation and Measurement, 2008, Vol. 57, No. 9, pp. 1854 - 1865.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``A Force Reflection Algorithm for Improved Transparency in Bilateral Teleoperation with Communication Delay,'' IEEE/ASME Transactions on Mechatronics, 2007, Vol. 12, No. 3, pp. 361 - 374.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``A Control Scheme for Stable Force-Reflecting Teleoperation over IP Networks,'' IEEE Transactions on Systems, Man and Cybernetics, Part B: Cybernetics, 2006, Vol. 36, No. 4, pp. 930 - 939.
- Polushin I.G., A. Tayebi, and H.J. Marquez ``Control Schemes for Stable Teleoperation with Communication Delay Based on IOS Small Gain Theorem,'' Automatica, 2006, Vol. 42, No. 6, pp. 905 - 915.
- Polushin I.G., H.J. Marquez ``Conditions for the Existence of Continuous Storage Functions for Nonlinear Dissipative Systems,'' Systems & Control Letters, 2005, Vol. 54, No. 1, pp. 73 - 81.
- Polushin I.G., H.J. Marquez ``Boundedness Properties of Nonlinear Quasi-Dissipative Systems,'' IEEE Transactions on Automatic Control, 2004, Vol. 49, No. 12, pp. 2257 - 2261.
- Polushin I.G., H.J.Marquez ``Multirate Versions of Sampled-Data Stabilization of Nonlinear Systems,'' Automatica, 2004, Vol. 40, No. 6, pp. 1035 - 1041.
- Polushin I.G., H.J. Marquez ``Stabilization of Bilaterally Controlled Teleoperators with Communication Delay: an ISS approach,'' International Journal of Control, 2003, Vol. 76, No. 8, pp. 858 - 870.
- Polushin I.G., H.J. Marquez ``On the Existence of a Continuous Storage Function for Dissipative Systems,'' Systems & Control Letters, 2002, Vol. 46, No. 2, pp. 85 - 90.
- Polushin I.G. ``Stabilization of Invariant Tori in Hamiltonian Systems under Persistently Acting Disturbances,'' International Journal of Robust and Nonlinear Control, 2001, Vol. 11, pp. 253 - 265.
- Polushin I.G., Fradkov A.L., Hill D.J. ``Passivity and passification of nonlinear systems,'' Automation and Remote Control, 2000, Vol. 61, No. 3, Part I, pp. 355 - 388. (Translated from Avtomatika i Telemechanika, 2000, No. 3, pp. 3 - 37. Originally published in Russian)
- Fradkov A.L., Polushin I.G. ``Quasidissipativity and L-dissipativity of nonlinear control systems,'' Doklady Mathematics, 1998, Vol. 58, No. 2, pp. 327 - 330. (Translated from Doklady Academii Nauk, 1998, Vol. 362, No. 3, pp. 319 - 322. Originally published in Russian)

- Anooshahpour F., P. Yadmellat, R.V. Patel, I. G. Polushin ``A Motion Transmission Model for Multi-DOF Tendon-Driven Mechanisms with Hysteresis and Coupling: Application to a da Vinci Instrument,'' 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, BC, Canada, September 24-28, 2017, accepted.
- Usova A., I. G. Polushin, R. V. Patel ``Scattering Transformation for Non-Planar Conic Systems,'' 20th IFAC World Congress, Toulouse, France, 9-14 July 2017, pp. 8808 - 8813.
- Anooshahpour F., P. Yadmellat, I. G. Polushin, R.V. Patel ``Modeling of Tendon-Pulley Transmission Systems with Application to Surgical Robots: A Preliminary Experimental Validation,'' 2017 IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, July 3-7, 2017, accepted.
- Usova A., I. G. Polushin, R. V. Patel ``A Graph Separation Stability Condition for Non-Planar Conic Systems,'' 10th IFAC Symposium on Nonlinear Control Systems, Monterey, CA, USA, August 23-25, 2016, pp. 945 - 950.
- Nieberding B., I.G. Polushin, S.N. Dashkovskiy ``Application of Lyapunov Functions to Teleoperator Networks with Communication Delay,'' 10th IFAC Symposium on Nonlinear Control Systems, Monterey, CA, USA, August 23-25, 2016, pp. 7 - 12.
- Anooshahpour F., I. G. Polushin, R.V. Patel ``Classical Preisach Model of Hysteretic Behavior in a da Vinci Instrument,'' 2016 IEEE International Conference on Advanced Intelligent Mechatronics, Banff, AB, Canada, July 12-15, 2016, pp. 1392 - 1397.
- Abdessameud A., A. Tayebi, I. G. Polushin ``On the Leader-Follower Synchronization of Euler-Lagrange Systems,'' 54th IEEE Conference on Decision and Control, Osaka, Japan, December 15-18, 2015, pp. 1054 - 1059.
- Abdessameud A., I. G. Polushin, A. Tayebi ``Distributed Coordination of Linear Second-order Multi-agent Systems with Communication Constraints,'' 2015 IEEE Multi-Conference on Systems and Control, Sydney, NSW, Australia, September 21-23, 2015, pp. 472 - 477.
- Dashkovskiy S.N., B. Nieberding, I. G. Polushin, R. Promkam ``Construction of Lyapunov Functions for Complex Interconnections with Irregular Communication Delays,'' 2015 IEEE Multi-Conference on Systems and Control, Sydney, NSW, Australia, September 21-23, 2015, pp. 275 - 280.
- Anooshahpour F., I. G. Polushin, R.V. Patel ``Tissue compliance determination using a da Vinci instrument,'' 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, May 26-30, 2015, pp. 5344 - 5349.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Containment Control for Networked Lagrangian Systems Under a Directed Graph and Communication Constraints,'' 53rd IEEE Conference on Decision and Control, Los Angeles,CA, December 15-17, 2014, pp. 2938 - 2943.
- Anooshahpour F., I. G. Polushin, R.V. Patel ``Quasi-Static Modeling of the da Vinci Instrument,'' 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, September 14-18, 2014, pp. 1308 - 1313.
- Takhmar A., I. G. Polushin, A. Talasaz, R.V. Patel ``Cooperative Teleoperation with Projection-Based Force Reflection for MIS,'' 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, September 14-18, 2014, pp. 1288 - 1293.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Synchronization of Heterogeneous Euler-Lagrange Systems with Time Delays and Intermittent Information Exchange,'' 19th IFAC World Congress, Cape Town, South Africa, 24-29 August 2014, pp. 1971 - 1976.
- Abdessameud A., A.Tayebi, I. G. Polushin ``Motion Coordination of Thrust-Propelled Underactuated Vehicles in the Presence of Communication Delays,'' 19th IFAC World Congress, Cape Town, South Africa, 24-29 August 2014, pp. 3170 - 3175.
- Polushin I. G. ``Generalized Scattering Transformation and Its Applications to Stabilization of Conic Systems,'' 52nd IEEE Conference on Decision and Control, Florence, Italy, December 10-13, 2013, pp. 648 - 653.
- Atashzar S. F., I. G. Polushin, R. V. Patel ``Projection-Based Force Reflection Algorithms for Teleoperated Rehabilitation Therapy,'' 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-7, 2013, pp. 477 - 482.
- Takhmar A., I. G. Polushin, R.V. Patel ``Frequency Separation in Projection-Based Force Reflection Algorithms for Bilateral Teleoperators,'' 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013, pp. 1484 - 1489.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Adaptive synchronization of networked Lagrangian systems with irregular communication delays,'' 51st IEEE Conference on Decision and Control, Maui, HI, December 10-13, 2012, pp. 5936 - 5941.
- Abdessameud A., A.Tayebi, I. G. Polushin ``Consensus algorithms design for constrained heterogeneous multi-agent systems,'' 51st IEEE Conference on Decision and Control, Maui, HI, December 10-13, 2012, pp. 825 - 830.
- Atashzar S. F., I. G. Polushin, R. V. Patel ``Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation,'' 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 5125 - 5130.
- Sotoudehnejad V., A. Takhmar, M. R. Kermani, I. G. Polushin ``Counteracting Modeling Inaccuracies in Torque Observer-Based Collision Detection using Time-variant Thresholds,'' 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012, pp. 4315 - 4320.
- Abdessameud A., I. G. Polushin, A.Tayebi ``Synchronization of Lagrangian systems with communication delays,'' 2012 American Control Conference, Montreal, QC, June 27 - 29, 2012, pp. 3748 - 3753.
- Abdessameud A., A.Tayebi, I. G. Polushin ``Cooperative attitude synchronization of multiple rigid bodies with communication delays,'' 2012 American Control Conference, Montreal, QC, June 27 - 29, 2012, pp. 3736 - 3741.
- Polushin I.G., M. Z. Hasan, A. Takhmar ``Experimental evaluation of a projection-based force reflection algorithm for haptic interfaces,'' IEEE Haptics Symposium 2012, Vancouver, BC, March 5-8, 2012, pp. 503 - 507.
- Polushin I.G., A. Takhmar, R.V. Patel ``Small Gain Design of Cooperative Teleoperator System with Projection-Based Force Reflection,'' 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2011, San Francisco, CA, September 25-30, 2011, pp. 653 - 658.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Human dynamics and stability of teleoperator systems with generalized projection-based force reflection algorithms,'' 18th IFAC World Congress, Milan, Italy, August 28 - September 2, 2011, pp. 338 - 343.
- Polushin I.G., A. Takhmar, R.V. Patel ``Small-Gain Design of Networked Cooperative Bilateral Teleoperators,'' IEEE International Conference on Robotics and Automation ICRA 2011, Shanghai, China, May 9-13, 2011, pp. 892 - 897.
- Polushin I.G., S.N. Dashkovskiy ``A Small Gain Framework for Networked Cooperative Teleoperation,'' 8th IFAC Symposium on Nonlinear Control Systems NOLCOS 2010, Bologna, Italy, September 1-3, 2010, pp. 90 - 95.
- Polushin I.G., J.P. Rhinelander, P.X. Liu, and C.-H. Lung ``Virtual Reality Enhanced Bilateral Teleoperation with Communication Constraints,'' 48th IEEE Conference on Decision and Control, Shanghai, R.P.China, December 16-18, 2009, pp. 2088 - 2093.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Experimental Studies of A Teleoperator System with Projection-Based Force Reflection Algorithms,'' 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MI, October 11 - 15, 2009, pp. 5127 - 5132.
- Polushin I.G., J.P. Rhinelander, P.X. Liu, and C.-H. Lung ``A Scheme for Virtual Reality Enhanced Bilateral Teleoperation with Time Delay,'' 2008 IEEE Instrumentation & Measurement Technology Conference, Victoria, BC, May 2008, pp. 1819-1822.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Stability of Bilateral Teleoperators with Projection-Based Force Reflection Algorithms,'' International Conference on Robotics and Automation ICRA 2008, Pasadena, CA, May 2008, pp. 677 - 682.
- Polushin I.G., H. J. Marquez, A. Tayebi, and P.X. Liu ``A Multichannel IOS Small Gain Theorem for Systems with Multiple Time-Varying Communication Delays,'' 46th IEEE Conference on Decision and Control, New Orleans, LA, December 12-14, 2007, pp. 3853 - 3858.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Projection-Based Force Reflection Algorithm for Stable Bilateral Teleoperation over Networks,'' 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, October 29 - November 2, 2007, pp. 2654 - 2659.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``On the Model-Based Approach to Nonlinear Networked Control Systems,'' 2007 American Control Conference, New York City, NY, July 11-13, 2007, pp. 281 - 286.
- Tayebi A., I.G. Polushin, C.-J. Chien ``Cascaded Iterative Learning Control for a Class of Uncertain Time-Varying Nonlinear Systems,'' 45th IEEE Conference on Decision and Control, San Diego, CA, December 2006, pp. 5030 - 5035.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``Position-Error Based Schemes for Bilateral Teleoperation with Time Delay: Theory and Experiments'', IEEE International Conference on Mechatronics and Automation ICMA 2006, R. P. China, June 2006, pp. 312 - 317. The paper received Best Conference Paper Award.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``A Force Reflection Algorithm for Improved Transparency in Bilateral Teleoperation with Communication Delay'', International Conference on Robotics and Automation ICRA 2006, Orlando, FL, May 2006, pp. 2914 - 2920.
- Polushin I.G., P.X. Liu, and C.-H. Lung ``A Control Scheme for Stable Force-Reflecting Teleoperation over IP Networks'', IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2005, Edmonton, AB, August 2005, pp. 2731- 2736.
- Polushin I.G., A. Tayebi, and H.J.Marquez ``Stabilization Scheme for Force Reflecting Teleoperation with Time-Varying Communication Delay Based on IOS Small Gain Theorem'', 16th IFAC World Congress, Prague, July 4 - 8, 2005.
- Polushin I.G., A. Tayebi ``Anticipative Iterative Learning Control of Robot Manipulators'', 16th IFAC World Congress, Prague, July 4 - 8, 2005.
- Polushin I.G., A. Tayebi, H.J. Marquez ``Adaptive Schemes for Stable Teleoperation with Communication Delay Based on IOS Small-Gain Theorem'', 24th American Control Conference, Portland, Oregon, June 8-10, 2005, Vol. 6, pp. 4143 - 4148.
- Polushin I.G., Tayebi A. ``An Iterative Learning Control Scheme for Robot Manipulators without Velocity Measurements,'' IFAC Workshop on Adaptation and Learning in Control and Signal Processing ALCOSP 04, Yokohama, Japan: August 30- September 1, 2004, pp. 675-679.
- Polushin I.G., Tayebi A., Marquez H.J. ``Control Schemes for Stabilization of Force-Reflecting Teleoperators with Communication Delay,'' IEEE Canadian Conference on Electrical and Computer Engineering CCECE'04, Niagara Falls, ON, May 3-5, 2004, pp. 2163-2166.
- Polushin I.G., Marquez H.J. ``The ISS Small Gain Approach to Stabilization of Bilaterally Controlled Teleoperators with Communication Delay,'' European Control Conference 2003 (ECC2003), University of Cambridge, UK: 1- 4 September 2003.
- Polushin I.G., Marquez H.J. ``Multirate Sampled-Data Stabilization of Nonlinear Systems,'' European Control Conference 2003 (ECC2003), University of Cambridge, UK: 1- 4 September 2003.
- Polushin I.G., Marquez H.J. ``Further results on the Existence of a Continuous Storage Function for Nonlinear Dissipative Systems,'' European Control Conference 2003 (ECC2003), University of Cambridge, UK: 1- 4 September 2003.
- Polushin I.G., Marquez H.J. ``Boundedness Properties of Nonlinear Quasidissipative Systems,'' 4th International Conference on Control and Automation, Montreal, June 10 - 12, 2003, pp. 251 - 255.
- Polushin I.G., Marquez H.J. ``On the Sampled-Data Input-to-State Stabilization of Passive Systems,'' Proceedings of the American Control Conference, Anchorage, AK May 8-10, 2002, pp. 3518 - 3522.
- Polushin I.G., Marquez H.J. ``On the Existence of a Continuous Storage Function for Dissipative Systems,'' Proceedings of the 40th Conference Decisions and Control, Orlando, FL, Dec. 2001, pp.431-435.
- Polushin I.G. ``On the Output Feedback Control of Passive Nonlinear Systems with Input Perturbations,'' Proceedings of the 39th Conference Decisions and Control, Sydney, Australia, Dec. 2000.
- Polushin I.G. ``Control of Oscillations in Hamiltonian Systems under Disturbances,'' Proceedings of the Control'2000 Conference, Cambridge, UK, September 2000.
- Polushin I.G. ``Energy Control of the Toda Lattice,'' Proceedings of the 2nd "Control of Oscillations and Chaos'' Conference (COC'2000), St.Petersburg, Russia, August 2000.
- Polushin I.G. ``Control of Oscillations in Multi-Degrees-of-Freedom Hamiltonian Systems under Persistently Acting Disturbances,'' Proceedings of the ``Stability and Control of Nonlinear Oscillations'' Conference, Moscow, Russia, July 2000.
- Polushin I.G. ``General Quasipassivity plus Output-to-State Stability Implies Ultimate Boundedness by Output Feedback,'' Proceedings of the European Control Conference ECC'99, Karlsruhe, Germany, 1999.
- Polushin I.G., Fradkov A.L., Putov V.V., Rogov K.A. ``Energy Control of One-Degree-of-Freedom Oscillators in Presence of Bounded Force Disturbances,'' Proceedings of the European Control Conference ECC'99, Karlsruhe, Germany, 1999.
- Polushin I.G., Fradkov A.L. ``Energy control of Hamiltonian Systems under Disturbances,'' Proceedings of the Mediterranean Control Conference'99, Haifa, Izrael, 1999.
- Polushin I.G., Fradkov A.L. ``Passivity and quasipassivity conditions for nonlinear control systems synthesis,'' Proceedings of the International Conference 60th Ann. Institute for Control Systems, Moscow, 29 June - 2 July 1999, Vol.2, P.120-128.
- Polushin I.G. ``Further properties of nonlinear quasipassive systems'', Proceedings of the 37th Conference Decisions and Control, Tampa, FL, 1998, pp.4144-4149.
- Polushin I.G., Hill D.J., Fradkov A.L. ``Strict quasipassivity and ultimate boundedness for nonlinear control systems,'' Proceedings of the Nonlinear Control Systems Design Symposium NOLCOS'98, Enschede, The Netherlands. 1998. Vol.2. P.527-532.
- Polushin I.G. ``Quasipassivity based control of nonlinear oscillation system with disturbances,'' Proceedings of the 1st "Control of Oscillations and Chaos" Conferece (COC'1997), St.Petersburg, Russia, August 1997. Vol.2. P.304-306.
- Fradkov A.L., Polushin I.G. ``Quasidissipative systems with one or several supply rates,'' Proceedings of the 4th European Control Conference ECC'97, Brussels, Belgium, 1997.
- Putov V.V., Polushin I.G. ``Majorizing functions approach in adaptive control of nonlinear plants,'' Proceedings of the International Conference ``Informatics and Control'', St.Petersburg, Russia. June 1997. Vol.3. P.951-958.
- Polushin I.G. ``Stability results for quasidissipative systems,'' Proceedings of the 3rd European Control Conference ECC'95, Rome, Italy. 1995. Vol.1. P.681-686.