Bruce Allen Francis

Born: Toronto, Canada, October 8, 1947

Citizenship: Canadian

BASc

1969

Mech Eng

U of Toronto

MEng

1970

Mech Eng

U of Toronto

PhD

1975

Elec Eng

U of Toronto

PhD student

1971-2

Elec Eng

Concordia U

Postdoc Fellow

1975-6

EECS

Berkeley

Postdoc Fellow

1976-7

Control and Management Sys-

tems Division

U of Cambridge

Assistant Prof

EE

Jan 1978 - June 1979

McGill

Assistant Prof

Eng & Appl Sci

July 1979 - June 1981

Yale

Assoc Prof

EE

June 1981 - Aug 1984

U Waterloo

Assoc Prof

EE

Sep 1984 - June 1986

U of Toronto

Assistant Prof

EE

June 1977 - Dec 1977

McGill & Con-

cordia

Assistant Prof

EE

July 1980

U Waterloo

Professor

EE

Jan - Mar 1988

Caltech

Professor

EE

Sep - Dec 1990

U Minnesota

Professor

ECE

since July 1986

U Toronto

NRC Scholarship

1971-4

Ontario Graduate Scholarship

1974-5

NSERC Postdoc Fellowship

1975-7

Teaching Award, presented by fourth-year class of 1985, Electrical Engineering, University of

Toronto

1986 Outstanding Paper Award, IEEE Control Systems Society

1990 George S. Axelby Outstanding Paper Award, IEEE Control Systems Society

1991 IEEE W.R.G. Baker Prize Award for the most outstanding paper reporting original work

in the IEEE Transactions, Journals, Magazines, and Proceedings

IEEE Fellow, since 1988

Japan Society for the Promotion of Science Fellowship, July 27-Sept. 1, 1989

Distinguished Lecturer of the IEEE Control Systems Society,1993-4

Teaching Award, presented by second-year class of 1995, Electrical and Computer Engineer-

ing, University of Toronto

Listed in ISIHighlyCited.com

1. B. A. Francis, O. A. Sebakhy and W. M. Wonham, “Synthesis of multivariable regu-

lators; the internal model principle,” J. Appl. Math. Opt., vol. 1, 1974, pp. 64-86.

2. B. A. Francis and W. M. Wonham, “The internal model principle for linear multivari-

able regulators,” J. Appl. Math. Opt., vol. 2, 1975, pp. 170-194.

3. B. A. Francis and W. M. Wonham, “The role of transmission zeros in linear multi-

variable regulators," Int. J. Control, vol. 22, 1975, pp. 657-681.

4. B. A. Francis and W. M. Wonham, “The internal model principle of control theory,”

Automatica, vol. 12, 1976, pp. 457-465.

5. B. A. Francis, “The multivariable servomechanism problem,” SIAM J. Control and

Opt., vol. 15, 1977, pp. 486-505.

6. B. A. Francis, “The multivariable servomechanism problem from the input-output

viewpoint,” IEEE Trans. Aut. Control, vol. 22, 1977, pp. 322-328.

7. B. A. Francis and K. Glover, “Bounded peaking in the optimal linear regulator with

cheap control,” IEEE Trans. Aut. Control, vol. 23, 1978, pp. 608-617.

8. B. A. Francis, “The optimal linear-quadratic time-invariant regulator with cheap

control,” IEEE Trans. Aut. Control, vol. 24, 1979, pp. 616-621.

9. B. A. Francis, “On robustness of the stability of feedback systems,” IEEE Trans. Aut.

Control, vol. 25, 1980, pp. 817-818.

10. B. A. Francis, “Convergence in the boundary layer for singularly perturbed equa-

tions,” Automatica, vol. 18, 1982, pp. 57-62.

11. B. A. Francis, “On the Wiener-Hopf approach to optimal feedback design,” Systems

and Control Letters, vol. 2, 1982, pp. 197-201.

12. M. Vidyasagar, H. Schneider, and B. A. Francis, “Algebraic and topological aspects

of feedback stabilization,” IEEE Trans. Aut. Control, vol. 27, 1982, pp. 880-894.

13. G. Zames and B. A. Francis, “Feedback, minimax sensitivity, and optimal robust-

ness,” IEEE Trans. Aut. Control, vol. 28, 1983, pp. 585-601.

14. B. A. Francis and M. Vidyasagar, “Algebraic and topological aspects of the regula-

tor problem for lumped linear systems,” Automatica, vol. 19, 1983, pp. 87-89.

15. B. A. Francis and G. Zames, “On H-infinity-optimal sensitivity theory for siso feed-

back systems,” IEEE Trans. Aut. Control, vol. 29,1984, pp. 9-16.

16. B. A. Francis, J. W. Helton, and G. Zames, “ H-infinity-optimal feedback controllers

for linear multivariable systems,” IEEE Trans. Aut. Control, vol. 29, 1984, pp. 888-

900.

17. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear time-varying

systems,” Systems and Control Letters, vol. 5, 1984, pp. 67-71.

18. S. O'Young and B. A. Francis, “Sensitivity trade-offs for multivariable plants,” IEEE

Trans. Aut. Control, vol. 30, 1985, pp. 625-632.

19. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear feedback sys-

tems,” Automatica, vol. 21, 1985, pp. 563-574.

20. S. O'Young and B. A. Francis, “Optimal performance and robust stabilization,”

Automatica, vol. 22, 1986, pp. 171-183.

21. B. A. Francis, “Stabilizability of linear systems with uncertain gains,” Systems and

Control Letters, vol. 7, 1986, pp. 195-198.

22. B. A. Francis and J. C. Doyle, “Linear control theory with an H-infinity optimality

criterion,” SIAM J. Cont. Opt., vol. 25, 1987, pp. 815-844. (Invited expository paper)

23. A. Feintuch and B. A. Francis, “Distance formulas for operator algebras arising in

optimal control problems,” Topics in Operator Theory and Interpolation, vol. 29 in Op-

erator Theory: Advances and Applications, Birkhauser, 1988, pp. 151-170.

24. B. A. Francis and A. Tannenbaum, “Generalized interpolation in control theory,”

Mathematical Intelligencer, vol. 10, no.4, Fall 1988, pp. 48-52.

25. B. A. Francis and T. T. Georgiou, “Stability theory for linear time-invariant plants

with periodic digital controllers,” IEEE Trans. Auto. Control, vol. 33, 1988, pp. 820-

832.

26. T. Chen and B. A. Francis, “Spectral and inner-outer factorizations of rational ma-

trices,” SIAM J. Matrix Analysis and Appl., vol. 10, no. 1, 1989, pp. 1-17.

27. J. Doyle, K. Glover., P. Khargonekar, and B. Francis, “State-space solutions to

standard H2 and H-infinity control problems,” IEEE Trans. Auto. Control, vol. 34,

1989, pp. 831-847.

28. T. Chen and B. A. Francis, “On the L2-induced norm of a sampled-data system,”

Systems and Control Letters, vol. 15, 1990, pp. 211-219.

29. T. Chen and B. A. Francis, “Input-output stability of sampled-data systems,”IEEE

Trans. Auto. Control, vol. 36, 1991, pp. 50-58.

30. G. Leung, T. Perry, and B. A. Francis, “Performance analysis of sampled-data con-

trol systems,” Automatica, vol. 27, 1991, pp. 699-704.

31. T. Chen and B. A. Francis, “ H2-optimal sampled-data control,”IEEE Trans. Auto.

Control, vol. 36, 1991, pp. 387-397.

32. T. Chen and B. A. Francis, “Linear time-varying H2-optimal control of sampled-

data systems,” Automatica, vol. 27, 1991, pp. 963-974.

33. B. Bamieh, J. B. Pearson, B. A. Francis, and A. Tannenbaum, “A lifting technique

for linear periodic systems with applications to sampled-data control,” Systems & Con-

trol Letters, vol. 17, 1991, pp. 79-88.

34. G. Dullerud and B. A. Francis, “L1 performance in sampled-data systems,” IEEE

Trans. Auto. Control, vol. 37, 1992, pp. 436-446.

35. T. Chen and B. A. Francis, “Sampled-data optimal design and robust stabilization,”

ASME J. Dynamic Systems, Meas. and Control, vol. 114, 1992, pp. 538-543.

36. R. E. Avedon and B. A. Francis, “Digital control design via convex optimization,”

ASME J. Dynamic Systems, Meas. and Control, vol. 115, 1993, pp. 579-586.

37. G. M. H. Leung, B. A. Francis, and J. Apkarian, “Bilateral controller for teleopera-

tors with time delay via mu-synthesis,” IEEE Trans. Robotics and Automation, vol. 11,

1995, pp. 105-116.

38. T. Chen and B. A. Francis, “Design of multirate filter banks by H-infinity optimiza-

tion,” IEEE Trans. Signal Processing, Dec. 1995, pp. 2822-2830.

39. T. Chen and B. A. Francis, “ H-infinity-optimal sampled-data control: computation

and design,” Automatica, Feb. 1996, pp. 223-228.

40. H. Shu, T. Chen, and B. A. Francis, “Minimax design of hybrid multirate filter

banks,” IEEE Trans. Circuits and Systems, Part II, Feb. 1997, pp. 120-128.

41. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Uncertainty modeling and ex-

periments in H-infinity control of large flexible space structures,” IEEE Trans. Control

Syst. Tech., Sept. 1997, pp. 504-519.

42. S. Mirabbasi, B. A. Francis, and T. Chen, “Controlling distortions in maximally

decimated filter banks,”IEEE Trans. Circuits and Systems, Part II, July 1997, pp. 597-

600.

43. B. Boulet and B. A. Francis, “Consistency of open-loop experimental frequency-

response data with coprime factor plant models,” IEEE Trans. on Automatic Control,

Dec. 1998, pp. 1680-1691.

44. B. Francis and S. Dasgupta, “Signal compression by subband coding,” Automatica,

Dec. 1999, pp. 1895-1908.

45. P. Goldsmith, B. Francis, and A. Goldenberg, “Stability of hybrid position/force

control applied to manipulators with flexible joints,” Int. J. Robotics and Automation,

vol. 14(4), Dec. 1999, pp. 146-160.

46. B. Boulet, B. Francis, P. Hughes, and T. Hong, “mu-synthesis for a large flexible

space structure experimental testbed,”AIAA J. Guidance and Control, vol. 24,

Sept.-Oct. 2001, pp. 967-977.

47. H. Ishii and B. Francis, “Stabilizing a linear system by switching control with dwell

time,” IEEE Trans. Automatic Control, Dec. 2002, pp. 1962-1973.

48. H. Ishii and B. Francis, “Stabilization with control networks,” Automatica, 2002,

pp. 1745-1751.

49. O. Jahromi, B. Francis, and R. Kwong, “Algebraic theory of optimal filter banks,”

IEEE Trans. on Signal Processing, Feb. 2003, pp. 442-457.

50. O. Jahromi, B. Francis, and R. Kwong, “Spectrum estimation using multirate ob-

servations,” IEEE Trans Signal Processing, 2004, pp. 1878-1890.

51. H. Ishii and B. A. Francis, “Quadratic stabilization of sampled-data systems with

quantization,” Automatica, 2003, pp. 1793-1800.

52. Z. Lin, M. Broucke, and B. Francis, “Local control strategies for groups of mobile

autonomous agents,” IEEE Trans. Automatic Control, 2004, pp. 622-629.

53. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Relative information of multirate

sensors,” Information Fusion, special issue on Robust Speech Processing, Vol. 5/2,

2004, pp. 119-129.

54. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Formations of vehicles in cyclic

pursuit,” IEEE Trans. Automatic Control, 2004, pp. 1963-1974.

55. Z. Lin, B. A. Francis, and M. Maggiore, “Necessary and sufficient graphical condi-

tions for formation control of unicycles,” IEEE Trans. Automatic Control, 2005, pp.

121-127.

56. S. L. Smith, M. E. Broucke, and B. A. Francis, “A hierarchical cyclic pursuit scheme

for vehicle networks,” Automatica, 2005, pp. 1045-1053.

57. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Pursuit formations of unicycles,”

Automatica, 2006, pp. 3 - 12.

58. J. A. Marshall, T. Fung, M. E. Broucke, G. M. T. D'Eleuterio and B. A. Francis, “Ex-

periments in multirobot coordination,” Robotics and Autonomous Systems, 2006, pp.

265 - 275.

59. Z. Lin, B. A. Francis, and M. Maggiore, “State agreement for coupled nonlinear

systems with time-varying interaction,” SIAM J. Control Opt, 2007, pp. 288 - 307.

60. S. L. Smith, M. E. Broucke, and B. Francis, “Curve shortening and the rendezvous

problem for mobile autonomous robots,” IEEE Trans. Automatic Control, June 2007,

pp. 1154 - 1159.

61. L. Krick, M. Broucke, and B. Francis, “Stabilization of infinitesimally rigid forma-

tions of multi-robot networks,” accepted International Journal of Control.

1. B. A. Francis, A Course in H-infinity Control Theory, Lecture Notes in Control and

Information Science, vol. 88, Springer-Verlag, Berlin, 1987; corrected 1st printing,

1987.

2. C. Foias, B. Francis, J. W. Helton, H. Kwakernaak, J. B. Pearson, H-infinity-Control

Theory, Lecture Notes in Mathematics, vol. 1496, Springer-Verlag, Berlin, 1991.

3. J. C. Doyle, B. A. Francis, and A. R. Tannenbaum, Feedback Control Theory, Mac-

millan, New York, 1992; Chinese translation 1993; Japanese translation 1995.

4. B. A. Francis and P. P. Khargonekar (editors), Robust Control Theory, The IMA Vol-

umes in Mathematics and its Applications, vol. 66, Springer-Verlag, New York, 1995.

5. T. Chen and B. A. Francis, Optimal Sampled-Data Control Systems, Communication

and Control Engineering Series, Springer-Verlag, Berlin, 1995.

6. B. A. Francis and A. R. Tannenbaum (editors), Feedback Control, Nonlinear Sys-

tems, and Complexity, Lecture Notes in Control and Information Science, vol. 202,

Springer-Verlag, Berlin, 1995.

7. H. Ishii and B. A. Francis, Limited Data Rate in Control Systems with Networks,

Lecture Notes in Control and Information Sciences, vol. 275, Springer-Verlag, Berlin,

2002.

8. B. A. Francis, M. C. Smith, and J. C. Willems (editors), Control of Uncertain Sys-

tems: Modelling, Approximation, and Design, Lecture Notes in Control and Information

Sciences, vol. 329, Springer-Verlag, Berlin, 2006.

T. Chen and B. A. Francis, “ H2-optimal control of discrete-time and sampled-data systems,”

Discrete-Time Control Systems Analysis and Design, Editor: C.T. Leondes,pp. 1-34, vol. 71

in Control and Dynamic Systems: Advances in Theory and Applications, Academic Press,

1995.

1. B. A. Francis, “The internal model principle,” Encyclopedia of Systems and Control,

Pergamon Press, 1987.

2. J. Raisch and B. A. Francis, “Modelling deterministic uncertainty,” The Control

Handbook, A CRC Handbook Published in Cooperation with IEEE Press, W.S. Levine

(ed.), 1996, pp. 551-560.

1. B. A. Francis and W. M. Wonham, “The necessary structure of multivariable regula-

tors,” Proc. Twelfth Allerton Conf. on Circuit and System Theory, 1974.

2. B. A. Francis and W. M. Wonham, “The internal model principle of linear control

theory,” Proc. IFAC Sixth Triennial World Congress, 1975.

3. B. A. Francis, “The linear multivariable regulator problem,” Proc. IEEE Conf. on De-

cision and Control, 1976.

4. B. A. Francis, “Perfect regulation and feedforward control of linear multivariable

systems,” Proc. IEEE Conf. on Decision and Control, 1977.

5. B. A. Francis, “Singularly perturbed linear initial value problems with an application

to singular optimal control,” Proc. IRIA/IFAC Workshop on Singular Perturbations in

Control, Paris, 1978.

6. B. A. Francis and M. Vidyasagar, “Adaptive robust regulation of linear multivariable

systems,” Proc. IEEE Conf. on Decision and Control, 1978.

7. M. Vidyasagar, H. Schneider and B. A. Francis, “Algebraic and topological aspects of

feedback stabilization,” Proc. IEEE Conf. on Decision and Control, 1980.

8. G. Zames and B. A. Francis, “A new approach to classical sensitivity methods,” Proc.

IEEE Conf. on Decision and Control, San Diego, 1981.

9. B. A. Francis and G. Zames, “On optimal minimax servos,” Proc. IEEE Conf. on De-

cision and Control, San Diego, 1981.

10. B. A. Francis and M. Vidyasagar, “Algebraic and topological aspects of the servo

problem for lumped linear systems,” Proc. VIII IFAC Congress, Kyoto, 1981.

11. B. A. Francis and G. Zames, “On optimal sensitivity theory for siso feedback sys-

tems,” Proc. IEEE Conf. on Decision and Control, 1982.

12. B. A. Francis, J. W. Helton and G. Zames, “ H-infinity-Optimal feedback controllers

for linear multivariable systems,” Proc. Math. Theory of Networks and Systems, Beer-

Sheva, 1983.

13. B. A. Francis and G. Zames, “Design of H-infinity-Optimal multivariable feedback

systems,” Proc. IEEE Conf. on Decision and Control, 1983.

14. B. A. Francis, “Optimal disturbance attenuation with control weighting,” Proc.

Twente Workshop on Systems and Optimization, Lecture Notes in Control and Inf. Sci-

ences, vol. 66, Springer-Verlag, 1984.

15. S. O'Young and B. A. Francis, “Sensitivity trade-offs for multivariable plants,” Proc.

IEEE Conf. on Decision and Control, 1984.

16. A. Feintuch and B. A. Francis, “Uniformly optimal control of linear feedback sys-

tems,” Proc. Math. Theory of Networks and Systems, Stockholm, 1985.

17. S. O'Young and B. A. Francis, “Optimal performance with plant uncertainty,” Proc.

IEEE Conf. on Decision and Control, 1985.

18. J. Bird and B. A. Francis, “On the robust disturbance attenuation problem,” Proc.

IEEE Conf. on Decision and Control,1986.

19. B. A. Francis, “A guide to H-infinity control theory,” Workshop on Modelling, Ro-

bustness and Sensitivity Reduction in Control Systems, Groningen, Dec. 1-5, 1986.

20. J. Doyle, K. Glover, P. Khargonekar, and B. Francis, “State-space solutions to stan-

dard H2 and H-infinity control problems,” Proc. Amer. Control Conf., 1988.

21. B. A. Francis, “Snippets of H-infinity control theory,” presented at the IMA Work-

shop on Signal Processing, 1988;Signal Processing, Part II: Control Theory and Appli-

cations, ed. by F.A. Grunbaum, J.W. Helton, and P. Khargonekar, Springer-Verlag, New

York, 1990, pp. 79-98.

22. B. A. Francis and T. T. Georgiou, “Stability theory for linear time-invariant plants

with periodic digital controllers,” presented at the IMA Workshop on Signal Processing,

1988.

23. B. A. Francis, “Past, present, and future of H-infinity control,” Proc. First Workshop

on Robust Control, Hokkaido University, Aug. 18, 1989.

24. T. Chen and B. A. Francis, “Stability of sampled-data systems,” Proc. Allerton

Conf., 1989.

25. B. A. Francis, “Lectures on H-infinity control and sampled-data systems,” CIME

Summer Institute, Como, Italy, June, 1990.

26. G. Dullerud and B. A. Francis, “L1 performance of sampled-data systems,” Proc.

Sym. MTNS, 1991.

27. B. A. Francis, “Sampled-data control theory,” Proc. Sym. MTNS, 1991.

28. T. Chen and B. A. Francis, “Sampled-data optimal design and robust stabilization,”

Proc. ACC, 1991.

29. S. E. Posner and B. A. Francis, “L2-Optimal discretization of analog filters,” Proc.

Conf. on Information Sciences and Systems, Princeton, NJ, 1992, pp. 161-165.

30. T. Chen and B. A. Francis, “State-space solutions to discrete-time and sampled-

data H2 control problems,” Proc. IEEE CDC, 1992.

31. G. Leung and B. A. Francis, “Bilateral control of teleoperators with time delay

through a digital communication channel,” Proceedings of the Thirtieth Annual Allerton

Conference on Communication, Control, and Computing, Sept. 1992, pp. 692-701.

32. G. Leung and B. A. Francis, “Delayed force feedback in the digital implementation

of space telerobots,” Canadian Aeronautics and Space Institute Seventh Conference

on Astronautics, Ottawa, Nov 5-6, 1992, pp. 257-266.

33. T. Chen and B. A. Francis, “ H-infinity-optimal sampled-data control: computation

and design,” Proc. American Control Conf., 1994,pp. 2767-2771.

34. B. Boulet and B. A. Francis, “Robust control of large flexible space structures using

a coprime factor plant description,” Proc. American Control Conf., 1994, pp. 265-266.

35. B. Boulet and B. A. Francis, “Consistency of experimental frequency-response data

with coprime factor plant models,” Proc. American Control Conf., 1994, pp. 2738-

2739.

36. A. Langari and B. A. Francis, “Sampled-data repetitive control systems,” Proc.

American Control Conf., 1994, pp. 3234-3235.

37. G. Leung and B. A. Francis, “Robust nonlinear control of bilateral teleoperators,”

Proc. American Control Conf., 1994, pp. 2119-2123.

38. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Uncertainty modeling and ex-

periments in H-infinity control of large flexible space structures,” Proc. IEEE Conf. on

Control Applications, 1995, pp. 1078-1085.

39. B. Boulet, B. A. Francis, P. C. Hughes, and T. Hong, “Daisy: a large flexible space

structure testbed for advanced control experiments,” Trends in Control: A European

Perspective, A. Isidori (ed.), Proc. European Control Conference, 1995, pp. 115-140.

40. T. Chen and B. A. Francis, “An application of H-infinity optimization to multirate

digital signal processing,” Proc. IEEE Conf. on Decision and Control, 1995, pp. 1177-

1182.

41. A. Langari and B. A. Francis, “Design of optimal sampled-data repetitive control

systems,” Allerton Conference on Control, Communications and Computing, October

4-6, 1995, pp. 401-410.

42. A. Langari and B. A. Francis, “Robustness analysis of sampled-data repetitive con-

trol systems,” Congress of the Int. Federation of Automatic Control, San Francisco,

June 30-July 5, 1996, vol. D, pp. 19-24.

43. S. Mirabbasi, B, Francis, and T. Chen, “Input-output gains of linear periodic

discrete-time systems with application to multirate signal processing,” Proc. Int. Sym.

Circuits and Systems, vol. II, 1996, pp. 193-196.

44. H. Shu, T. Chen, and B. Francis, “Minimax design of hybrid multirate filter banks,”

Proc. Int. Sym. Circuits and Systems, vol. II, 1996, pp. 324-327.

45. P. Goldsmith, B. Francis, and A. Goldenberg, “The cause of kinematic instability in

hybrid position/force control: contact compliance,” IASTED Int. Conf. on Intelligent

Information Systems, Dec. 8-10, 1997.

46. B. A. Francis, “From Digital Control to Digital Signal Processing,” Workshop on

Learning, Control, and Hybrid Systems, Centre for Artificial Intelligence and Robotics,

Bangalore, January 1998; published as Learning, Control, and Hybrid Systems, Lec-

ture Notes in Control and Information Sciences, Springer-Verlag, 1998, pp. 93-107.

47. Q. Pu and B. A. Francis, “Solution of a wavelet crime,” Workshop on Recent Ad-

vances in Control, Fields Inst., Toronto, June 29-30, 1998; published in Topics in Con-

trol and its Applications, Springer-Verlag, 1999, pp. 143-156.

48. O. Jahromi and B. Francis, “An information-theoretic method for designing mul-

tiresolution principal component transforms,” International Joint Conf. on Neural Net-

works, Washington, DC, July 10-16, 1999.

49. H. Ishii, Y. Yamamoto and B. A. Francis, “Sample-rate conversion via sampled-

data H-infinity control,” Proc. IEEE CDC, 1999, pp. 3440-3445.

50. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Algebraic theory of optimal filter

banks,” ICASSP, Istanbul, June 2000.

51. H. Ishii and B. Francis, “Stabilization with control networks,” UKACC Int. Conf.

Control 2000, Cambridge, UK, Sept, 2000.

52. H. Ishii and B. Francis, “Control over networks,” Annual Allerton Conference on

Communication, Control, and Computing, Oct. 4-6, 2000, 143-152.

53. H. Ishii and B. Francis, “Stabilizing a linear system by switching control with dwell

time,” ACC, 2001.

54. H. Ishii and B. A. Francis, “Stabilizing a linear system by switching control and

output feedback with dwell time,” Proc. 40th IEEE Conf. on Decision and Control, pp.

191-196, 2001.

55. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Information theory of Multirate

systems,” IEEE International Symposium on Information Theory, June 24-29, 2001,

Washington D.C.

56. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Multirate signal estimation,”Cana-

dian Conference on Electrical and Computer Engineering, Toronto, Ontario, May 13-16,

2001.

57. O. S. Jahromi, B. A. Francis, and R. H. Kwong, “Multirate spectral estimation,”

IEEE Pacific Rim Conference on Communications, Computers and Signal Processing,

Victoria, B.C., Canada, August 26-28, 2001.

58. O. S. Jahromi, R. H. Kwong, and B. A. Francis, “Information theory of multirate

systems,” IEEE Int. Symposium on Information Theory, Washington, DC, June 24-29,

2001.

59. H. Ishii and B. A. Francis, “Quadratic stabilization of sampled-data systems with

quantization,” Proc. 15th IFAC World Congress, Barcelona, 2002.

60. J. A. Marshall, Z. Lin, M. E. Broucke, and B. A. Francis, “Pursuit strategies for

autonomous agents,” Proceedings of the 2003 Block Island Workshop on Cooperative

Control, eds. V. J. Kumar, N. E. Leonard, and A. S. Morse, Springer-Verlag Series: Lec-

ture Notes in Control and Information Sciences, 2004.

61. Z. Lin, M. Broucke, and B. Francis, “Local control strategies for groups of mobile

autonomous agents,” Proc. CDC, Hawaii, 2003.

62. J. Marshall, M. Broucke, and B. Francis, “A pursuit strategy for wheeled-vehicle

formations,” Proc. CDC, Hawaii, 2003, pp. 2555-2560.

63. J. A. Marshall, M. E. Broucke, and B. A. Francis, “Unicycles in cyclic pursuit,” to

appear in Proceedings of the 2004 Automatic Control Conference, Boston, MA U.S.A.,

June 30-July 2, 2004.

64. Z. Lin, B. A. Francis, and M. Maggiore, “Feasibility for formation stabilization of

multiple unicycles,” Proc. of 43rd IEEE Conference on Decision and Control, Bahamas,

Dec. 14-17, 2004, pp. 2448-2452.

65. Z. Lin, B. Francis, and M. Maggiore, “On the state agreement problem for multiple

nonlinear dynamical systems,” 16th IFAC World Congress, Prague, 2005.

66. J. A. Marshall, M. E. Broucke, and B. A. Francis. Unicycles in cyclic pursuit. In

Proceedings of the 2004 American Control Conference, June 30-July 2, 2004, pp.

5344-5349.

67. S. Smith, M. E. Broucke, B. Francis, “Curve shortening and its application to multi-

agent systems,” Proc. IEEE Conference on Decision and Control, Seville, 2005, pp.

2817 - 2822.

68. Z. Lin, B. Francis, and M. Maggiore, “Coupled dynamic systems: from structure

towards state agreement,” Proc. IEEE Conference on Decision and Control, Seville,

2005, pp. 3303 - 3308.

69. S. L. Smith, M. E. Broucke, and B. Francis, “Stabilizing a multiagent system to an

equilateral polygon formation,” MTNS, Kyoto, 2006.

70. Z. Lin, B. Francis, and M. Maggiore, “Getting mobile autonomous robots to ren-

dezvous,” Workshop on Control of Uncertain Systems: Modelling, Approximation, and

Design, Cambridge UK, April 21,22, 2006; in Control of Uncertain Systems: Modelling,

Approximation, and Design, Lecture Notes in Control and Information Sciences, vol.

329, Springer-Verlag, Berlin, 2006, pp. 131 - 149.

71. L. Koch, R. Adve, and B. Francis, “Optimal beamforming with mobile robots,”

Asilomar Conf. on Signals, Systems, and Computers, 2007.

72. L. Krick, M. Broucke, and B. Francis, “Getting mobile autonomous robots to form a

prescribed geometric arrangement,” Lecture Notes in Control and Information Sci-

ences, vol. 371, 2008, pp. 1149-159.

73. L. Krick, M. Broucke, and B. Francis, “Stabilization of infinitesimally rigid forma-

tions of multi-robot networks,” submitted CDC.

Course on “H-infinity Optimal Linear Control Systems,” Division of Automatic Control,

Linkoping University, Sweden, August 22-26, 1983.

Course on “H-infinity Control and Sampled-Data Systems," Centro Internazionale

Matematico Estivo, Como, Italy, June 18-26, 1990.

“Sampled-Data Control Theory,” Plenary talk, Benelux Systems and Control Meeting,

Veldhoven, the Netherlands, 1992.

Course on “Advanced Digital Control,” given with Chen Tongwen and Jacob Apkarian,

the Fields Institute, May 1992.

Course on “Sampled-Data Control Systems,” Department of Automation, Tsinghua

University, China, June 1992.

“Sampled-Data Systems, Parts I and II,” Lectures at CRM, Montreal, July 22, 23,

1992.

Johannes Dold, Otto von Guericke University of Magdeburg, 2007

Florian Dorfler, Stuttgart University, 2008.

Peter Gantchev, M.Eng. Thesis, McGill University, 1980

James Zydiak, M.Sc. Thesis, Yale University, 1981

Cynthia Beck, M.A.Sc., U. of Waterloo, 1984

Jeff Bird, M.A.Sc., U. of T., 1986

Chen Tongwen, M.A.Sc., U. of T., 1987

Raja Mukherji, M.A.Sc., U. of T., 1989

Tony Perry, M.A.Sc., U. of T., 1989

Gary Leung, M.A.Sc., U. of T., 1990

Richard Cobden, M.A.Sc., U. of T., 1990

Geir Dullerud, M.A.Sc., U. of T., 1990

Malgorzata Zywno, M.Eng., U. of T., 1990

Roger Avedon, M.A.Sc., U. of T., 1991

Steven Eli Posner, M.A.Sc., U. of T., 1992

Audur Freyja Kjartansdottir, M.A.Sc., U. of T., 1992

Jiao Ling Ling, M.A.Sc., U. of T., 1993

Mao Rong, M.A.Sc., U. of T., 1995.

Ahmad Chaudry, M.A.Sc., U. of T., 1996.

Shahriar Mirabbasi, M.A.Sc., U. of T., 1997.

Asad Javan Shayam, M.Eng., U. of T., 1998.

Gaby Saad, M.A.Sc., U. of T., 2000.

Atsuhiko Sakurai, M.A.Sc., U. of T., 2001. (Co-supervised with M. Maggiore)

Alfred Sum, M.A.Sc., U. of T., 2003. (Co-supervised with M. Broucke)

Stephen Smith, M.A.Sc., U. of T., 2005. (Co-supervised with M. Broucke)

Laura Krick, M.A.Sc., U. of T., 2007. (Co-supervised with M. Broucke)

Siu O'Young, “Performance Trade-Offs in the Design of Multivariable Controllers,” Uni-

versity of Waterloo, 1985.

Chen Tongwen, “Control of Sampled-Data Systems,” University of Toronto, 1991.

Gary Leung, “Bilateral Control of Teleoperators: Time Delay and Nonlinear Robust

Control Issues,” University of Toronto, 1994.

Peter Goldsmith, “Stability of Hybrid Position/Force Control Applied to Robots with

Flexible Joints,” University of Toronto, 1995.(Co-supervised with A.A. Goldenberg.)

Benoit Boulet, “Modeling and Robust Control of Large Flexible Space Structures,” Uni-

versity of Toronto, 1995.

Alireza Langari, “Optimal Sampled-Data Repetitive Control,” University of Toronto,

1996.

Omid Jahromi, “Theory of Multirate Statistical Signal Processing,” University of To-

ronto, 2002.

Hideaki Ishii, “Limited Data Rate in Control Systems with Networks,” University of To-

ronto, 2002.

Joshua Marshall, “Cooperative Autonomy: Pursuit Formations of Multivehicle Systems,”

U of Toronto, 2005. (Co-supervised with M. Broucke)

Zhiyun Lin, “Coupled Dynamic Systems: From Structure towards Stability and Stabi-

lizability,” U of Toronto, 2005. (Co-supervised with M. Maggiore)

Associate Editor, IEEE Trans. Automatic Control, 1979-80.

Associate Editor, Automatica, 1981-85.

Associate Editor, SIAM J. Cont. Opt., 1985-87.

Associate Editor, Mathematics of Control, Signals, and Systems, 1987-2007.

Associate Editor, Systems and Control Letters, 1988-94.

Associate Editor, Journal of Systems and Control Engineering, 1990-92.

Associate Editor, European Journal of Control, 1995-97.

Chairman, Linear Systems Technical Committee, IEEE Control Systems Society,

1979-80

Appointed member of IEEE Administrative Committee, 1980

Appointed member of IEEE CSS Awards and Fellows Nominations Committee, 1985

Program Chairman, Optimization Days, 1979

Program Committee, 1980 IEEE Conference on Decision and Control

Session Organizer and Chairman, Workshop on the Math. Theory of Networks and

Systems, Virginia Beach, 1980

Session Co-organizer and Co-chairman, 1983 IEEE Conference on Decision and Con-

Program Committee, 1984 IEEE Conference on Decision and Control

Session Organizer and Chairman, 1985 Symposium on Math. Theory Networks and

Associate Chair, Division of Engineering Science, U. of T., 1991/2

IEEE Control Systems Award Committee, 1995-1999