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Studies in Computational Intelligence 635
Christos Volos Editors
Advances and
Applications
in Nonlinear
Control Systems
Studies in Computational Intelligence
Volume 635
Series editor
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e-mail: kacprzyk@ibspan.waw.pl
About this Series
The series “Studies in Computational Intelligence” (SCI) publishes new develop-

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which enable both wide and rapid dissemination of research output.
More information about this series at http://www.springer.com/series/7092

Christos Volos
Editors
Advances and Applications

in Nonlinear Control Systems
123
Editors
Sundarapandian Vaidyanathan Christos Volos
Research and Development Centre Department of Physics
Vel Tech University Aristotle University of Thessaloniki
Chennai Thessaloniki
India Greece
ISSN 1860-949X ISSN 1860-9503 (electronic)

Studies in Computational Intelligence
ISBN 978-3-319-30167-9 ISBN 978-3-319-30169-3 (eBook)
DOI 10.1007/978-3-319-30169-3
Library of Congress Control Number: 2016932741
© Springer International Publishing Switzerland 2016

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
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Preface
About the Subject
Control theory is a multidisciplinary branch of engineering that concerns with the

behavior of dynamical systems with inputs (or controls) and seeks to modify the
outputs by changes in the inputs using feedback. Linear control theory applies to
systems made of linear devices and they obey the superposition principle. For linear
control systems, the output of the device is proportional to the input. Nonlinear
control theory covers a wider class of systems which do not obey the superposition
principle. As most real-world control systems are nonlinear, nonlinear control
theory has great applications for real-world control systems. Nonlinear control
systems are often governed by nonlinear differential equations and many mathe-
matical techniques have been developed to analyze these systems such as Lyapunov
stability theory, limit cycle theory, Poincaré maps, bifurcation theory, chaos theory,
and describing functions. In the recent decades, soft computing techniques such as
neural networks, fuzzy logic, and evolutionary algorithms have been also suc-
cessfully applied to analyze and apply nonlinear control theory for many multi-
disciplinary applications. In the recent decades, advanced techniques such as sliding
mode control, fuzzy-based sliding mode control, backstepping control, and adaptive
control have been also applied for control systems design. Control systems design
has applications in several branches of engineering such as mechanical engineering,
aeronautical engineering, electrical engineering, communications engineering,
robotics, biomedical instrumentation, etc.
About the Book
The new Springer book, Advances and Applications in Nonlinear Control Systems,
consists of 30 contributed chapters by subject experts who are specialized in the
various topics addressed in this book. The special chapters have been brought out in
this book after a rigorous review process in the broad areas of modeling and
v
vi Preface
applications of nonlinear control systems. Special importance was given to chapters

offering practical solutions and novel methods for the recent research problems in
the modeling and applications of nonlinear control systems.
This book discusses trends and applications of nonlinear control systems in
science and engineering.
Objectives of the Book
This volume presents a selected collection of contributions on a focused treatment

of recent advances and applications in nonlinear control systems. The book also
discusses multidisciplinary applications in control engineering, computer science,
and information technology. These are among those multidisciplinary applications
where computational intelligence has excellent potentials for use. Both novice and
expert readers should find this book a useful reference in the field of nonlinear
control systems.
Organization of the Book
This well-structured book consists of 30 full chapters.
Book Features
• The book chapters deal with the recent research problems in the areas of non-
linear control systems.
• The book chapters contain a good literature survey with a long list of references.
• The book chapters are well written with a good exposition of the research
problem, methodology, and block diagrams.
• The book chapters are lucidly illustrated with numerical examples and
simulations.
• The book chapters discuss details of engineering applications and future
research areas.
Audience
The book is primarily meant for researchers from academia and industry, who are
working in the research areas—control engineering, electrical engineering, com-
puter science, and information technology. The book can also be used at the
graduate or advanced undergraduate level as a textbook or major reference for
courses such as control systems, nonlinear dynamical systems, mathematical
modeling, computational science, numerical simulation, and many others.
Preface vii
Acknowledgments
As the editors, we hope that the chapters in this well-structured book will stimulate
further research in control systems, computational intelligence, and chaos theory,
and utilize them in real-world applications.
We hope sincerely that this book, covering so many different topics, will be very
useful for all readers.
We would like to thank all the reviewers for their diligence in reviewing the
chapters.
Special thanks go to Springer, especially the book editorial team.
Christos Volos
Contents
Kinematic Control of a Robot by Using a Non-autonomous

Chaotic System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Ch.K. Volos, D.A. Prousalis, S. Vaidyanathan, V.-T. Pham,
J.M. Munoz-Pacheco and E. Tlelo-Cuautle
Nonlinear Observer Design for Chaotic Systems . . . . . . . . . . . . . . . . . . 19
Nonlinear Observer Design for Population Biology Systems . . . . . . . . . 43
Output Regulation of Vaidyanathan 3-D Jerk Chaotic System . . . . . . . 59
General Observer Design for Continuous-Time
and Discrete-Time Nonlinear Systems . . . . . . . . . . . . . . . . . . . . . . . . . 81
Generalized Projective Synchronization of Vaidyanathan
Chaotic System via Active and Adaptive Control . . . . . . . . . . . . . . . . . 97
Adaptive Control and Synchronization of Chlouverakis–Sprott
Hyperjerk System via Backstepping Control . . . . . . . . . . . . . . . . . . . . 117
Sundarapandian Vaidyanathan and Babatunde A. Idowu
Anti-synchronization of Hyperchaotic Systems via Novel Sliding
Mode Control and Its Application to Vaidyanathan
Hyperjerk System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Sundarapandian Vaidyanathan and Sivaperumal Sampath
Sliding Mode Control with State Derivative Feedback
in Novel Reciprocal State Space Form . . . . . . . . . . . . . . . . . . . . . . . . . 159
Yuan-Wei Tseng
ix
x Contents
Active Controller Design for the Output Regulation

of Vaidyanathan Hyperjerk System . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Analysis, Control and Synchronization of a Novel Highly
Chaotic System with Three Quadratic Nonlinearities . . . . . . . . . . . . . . 211
A No-Equilibrium Novel 4-D Highly Hyperchaotic System
with Four Quadratic Nonlinearities and Its Adaptive Control . . . . . . . . 235
Identification, Stability and Stabilization of Limit Cycles
in a Compass-Gait Biped Model via a Hybrid Poincaré Map . . . . . . . . 259
Hassène Gritli and Safya Belghith
Explicit Delay-Dependent Stability Criteria for Nonlinear
Distributed Parameter Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
Michael Gil’
The Case of Bidirectionally Coupled Nonlinear Circuits
Via a Memristor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Ch.K. Volos, V.-T. Pham, S. Vaidyanathan, I.M. Kyprianidis
and I.N. Stouboulos
Fuzzy Adaptive Sliding-Mode Control Scheme for Uncertain
Underactuated Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Soumia Moussaoui, Abdesselem Boulkroune
and Sundarapandian Vaidyanathan
Unstable PLL-Controller as FM Modulator and Detection
of Modulating Self-Oscillations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Bishnu Charan Sarkar, Suvra Sarkar and Saumen Chakraborty
Application of Time-Delayed Feedback Control Techniques
in Digital Phase-Locked Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Tanmoy Banerjee and B.C. Sarkar
Modeling and Predictive Control of Nonlinear Hybrid
Systems Using Mixed Logical Dynamical Formalism. . . . . . . . . . . . . . . 421
K. Halbaoui, M.F. Belazreg, D. Boukhetala and M.H. Belhouchat
A Non-linear Decentralized Control of Multimachine Power
Systems Based on a Backstepping Approach . . . . . . . . . . . . . . . . . . . . 451
M. Ouassaid, M. Maaroufi and M. Cherkaoui
Diving Autopilot Design for Underwater Vehicles Using
an Adaptive Neuro-Fuzzy Sliding Mode Controller. . . . . . . . . . . . . . . . 477
G.V. Lakhekar, L.M. Waghmare and Sundarapandian Vaidyanathan
Contents xi
Variable Structure Sensorless Control of PMSM Drives . . . . . . . . . . . . 505

Lucio Ciabattoni, Maria Letizia Corradini, Massimo Grisostomi,
Gianluca Ippoliti, Sauro Longhi and Giuseppe Orlando
Sliding Mode Control of Induction Generator Wind Turbine
Connected to the Grid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
M. Ouassaid, K. Elyaalaoui and M. Cherkaoui
Iterative Learning Control for Affine and Non-affine Nonlinear
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
Farah Bouakrif
On Nonlinear Robust Adaptative Control: Application
on Electro-Hydraulic Valve System . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
Lilia Sidhom, Ines Chihi, Xavier Brun, Eric Bideaux
and Daniel Thomasset
Nonlinear Discrete Time Sliding Mode Control Applied
to Pumping System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
Asma Chihi and Anis Sellami
Design of a Controller of Switched Nonlinear Systems
Based on Multiple Lyapunov Functions . . . . . . . . . . . . . . . . . . . . . . . . 611
Khalil Jouili, Arwa Abdelkarim and Naceur Benhadj Braiek
Nonlinear Sliding Mode Observer for Tire Pressure Monitoring . . . . . . 627
Nada Ouasli and Lilia El Amraoui
Global Stabilization of Switched Nonlinear Systems Using
Backstepping Approach: Applications to Chemical Processes . . . . . . . . 655
Arwa Abdelkarim, Khalil Jouili and Naceur BenHadj Braiek
Second Order Sliding Mode Based Synchronization
Control for Cooperative Robot Manipulators . . . . . . . . . . . . . . . . . . . . 669
Fatma Abdelhedi, Yassine Bouteraa and Nabil Derbel
Kinematic Control of a Robot by Using
a Non-autonomous Chaotic System
Ch.K. Volos, D.A. Prousalis, S. Vaidyanathan, V.-T. Pham,

J.M. Munoz-Pacheco and E. Tlelo-Cuautle
Abstract In this chapter, a new navigation strategy by designing a path planning gen-
erator, which ensures chaotic motion to an autonomous robot, has been investigated.
This new technique is implemented by using the well-known from the nonlinear
theory Poincaré map, which is produced by a non-autonomous chaotic system. For
this reason one of the most studied non-autonomous systems, the Duffing—van der
Pol system has been chosen, presenting suitable results. The path planning generator
produces an unpredictable trajectory by converting the chaotic strange attractor, pro-
duced by system’s Poincaré map, into the robot’s “random” trajectory in a chosen
workspace. As a consequence the autonomous robot covers the whole workspace
with unpredictable way. The simulation results verify that the proposed generator
achieves the aforementioned goal. So, with this work, new perspectives on use of
non-autonomous chaotic systems in robotic applications are opened.
Ch.K. Volos (B) · D.A. Prousalis

Physics Department, Aristotle University of Thessaloniki, Thessaloniki GR-54124, Greece
e-mail: volos@physics.auth.gr
D.A. Prousalis
e-mail: dprou@physics.auth.gr
S. Vaidyanathan
Research and Development Centre, Vel Tech University, Avadi,
Chennai 600062, Tamil Nadu, India
e-mail: sundarvtu@gmail.com
V.-T. Pham
School of Electronics and Telecommunications, Hanoi University of Science
and Technology, 01 Dai Co Viet, Hanoi, Vietnam
e-mail: pvt3010@gmail.com
J.M. Munoz-Pacheco
Electronics Department, Autonomous University of Puebla (BUAP), Puebla 72570, Mexico
e-mail: jesusm.pacheco@correo.buap.mx
E. Tlelo-Cuautle
Department of Electronics, INAOE, Tonantzintla Puebla 72840, Mexico
e-mail: etlelo@inaoep.mx
© Springer International Publishing Switzerland 2016 1

S. Vaidyanathan and C. Volos (eds.), Advances and Applications in Nonlinear
Control Systems, Studies in Computational Intelligence 635,
DOI 10.1007/978-3-319-30169-3_1
2 Ch.K. Volos et al.
Keywords Chaos · Non-autonomous dynamical system · Duffing—van der pol

system · Poincaré map · Autonomous robot · Path planning generator · Terrrain
coverage
1 Introduction
In the last decade the subject of robotics and especially the design of motion con-
trollers for autonomous robots has become a very promising research field. This
occurs because there is a tension, in many difficult or dangerous tasks, of human
to be replaced by robots. In general, the great advantage of an autonomous robot is
that performs a task without the continuous human supervision. Terrain exploration
for searching for explosives [54], complete coverage of a terrain (like floor-cleaning
robots) [15, 50], transportation [58], search and rescue of human victims on dis-
aster places [59], fire fighting devices [61], map buildings [62] and surveillance or
patrolling of terrains for intrusion [6, 10, 33, 36, 39, 40, 42] are some of the civil
or military tasks, where autonomous robots can be very useful.
In the procedure of design and development of autonomous robots, the key issues
are the locomotion, the sensing and the localization. However, the most challenging
issue is the choice of the navigation strategy, which can be defined as the set of
various techniques that allow a robot to autonomously decide where to move in the
workspace in order to accomplish a given task [53]. Also, the navigation strategies
have a remarkable influence over the performance of the task execution and sig-
nificant contribution in building the robot’s autonomy. Many interesting navigation
techniques depending on the application have been proposed so far, but the issue
continues to preoccupy the scientific community.
Covering all the possible classes of problems related with navigation strategies,
such as the exploration of an initially unknown workspace or the patrolling of a
known environment, the key-point is the robot’s motion planning for the complete
and fast workspace scanning. For accomplishing these requirements, a robot that
is capable of crossing every region, covering systematically the entire workspace,
should be designed. An obvious solution is a systematic scan by using parallel straight
trajectories. Nevertheless, this approach could be easily understood, for example by
an intruder in the case of a patrolling mission. Therefore, the unpredictability of the
robot’s trajectory is also a crucial factor for the success of such autonomous robot’s
tasks. Another, interesting feature that the navigation strategy should perform is not
only the unpredictability but also the fast scanning of the entire workspace. So, the
aforementioned features are the subjects of study among the researchers for selecting
the most suitable autonomous robotic system.
In this direction, Nakamura and Sekiguchi in 2001, proposed a strategy to solve
the above mentioned problem based on chaotic systems [47]. In that work the chaotic
behavior of the Arnold dynamical system is imparted to the robot’s motion control.
Since then a great number of relative research works in the field of autonomous
robots have been presented, because the chaotic motion guarantees the scanning
Kinematic Control of a Robot by Using a Non-autonomous Chaotic System 3
of the whole workspace without a terrain map or motion plan. Lorenz dynamical
system [11, 37], Standard or Taylor–Chirikov map [38–40] , Chua circuit [54, 72],
and double-scroll systems [63, 69–71] are some of the chaotic systems which have
also been used for this purpose.
As it is known, the rich dynamic behavior of nonlinear systems and especially the
chaotic phenomena which that system produces, makes these systems suitable can-
didates for using in several disciplines including meteorology, physics, economics,
biology, philosophy [1, 2, 14, 19] and also in diverse engineering applications such
as communications [18, 45, 55], cryptography [44, 46, 67, 68], random bits gen-
erators [78] and neuronal networks [12]. This was the starting point of inducing
chaotic behavior to robotic systems. This goal is achieved by designing controllers,
which ensure chaotic motion producing by a nonlinear circuit or by programming a
microcontroller.
In more details, chaos theory studies the behavior of dynamical systems that are
highly sensitive on initial conditions, an effect which is popularly referred to as
the “Butterfly Effect”. This means, that small differences in initial conditions, such
as those due to rounding errors in numerical computation, yield widely diverging
outcomes for such dynamical systems, rendering long-term prediction impossible
in general. This happens even though these systems are deterministic, meaning that
their future behavior is fully determined by their initial conditions, with no random
elements involved. In other words, the deterministic nature of these systems does not
make them predictable.
Until now, the great majority of the proposed chaotic motion controllers are based
on autonomous nonlinear dynamical systems, in order to use the independence of
these systems to external sources. However, in the present work, the robot’s motion
controller is based on a path planning generator, which is designed by using a non-
autonomous dynamical system. For ridding from the system the influence of the
external source and increasing the unpredictability of the proposed controller, the
Poincaré section for sampling the chaotic signal has been used.
The proposed path planning generator produces an unpredictable trajectory by
imparting the chaotic behavior of the system to the robot’s motion. This occurs by
converting the Poincaré map of the chaotic system into a sequence of planned target
locations. As a consequence the autonomous robot can cover the whole workspace
with unpredictable way, presenting satisfactory results in regard to other similar
works.
This chapter is organized as follows. In Sect. 2 the features of chaotic systems
and especially the description of the Duffing—van der Pol system, which is the
key-point in this work, are given. The adopted robot’s chaotic path planning gen-
erator is described in Sect. 3. The simulation results of the proposed autonomous
robot’s trajectory and its analysis are presented in Sect. 4. Finally, Sect. 5 includes
the conclusion remarks of this work.
2 The Duffing—van der Pol System
In literature, chaos refers to some dynamical phenomena considered to be complex

and unpredictable. Henry Poincaré was the first that observed this kind of dynamical
behavior at the end of the 19th century [52], however chaos theory begins to take form
in the second half of the 20th century after observations of the evolution of different
physical systems [30, 34]. These systems revealed that despite of the knowledge of
their evolution rules and initial conditions, their future seemed to be arbitrary and
unpredictable. That opened quite a revolution in modern physics, terminating with
Laplace’s ideas of causal determinism [29].
Today chaos theory has been changed in a catholic model of study of many
phenomena in weather and climate [30], population growth in ecology [41], economy
[28], to mention only a few examples. Chaos has also been observed in the laboratory
in a number of systems such as electrical circuits [66], lasers [7], chemical reactions
[13], fluid dynamics [3], mechanical systems, and magneto-mechanical devices [43].
So, chaos theory provides the means to explain various phenomena in nature and
makes use of chaotic dynamical systems in many different scientific fields.
A nonlinear dynamical system, from a mathematical viewpoint, in order to be
considered as chaotic, must fulfill the following three conditions [21].
• It must be topologically mixing,

• Its chaotic orbits must be dense and
• It must be very sensitive on initial conditions.
The term topologically mixing means that the chaotic dynamical system, espe-
cially the chaotic designated area of the trajectory will eventually cover part of any
particular region. This is a very crucial feature for the design of robots motion’s
controllers. Also, as it is mentioned, the chaotic orbits have to be dense if it comes
arbitrarily close to any point in the domain. Finally, the most important feature of
chaotic systems, as it is referred in the previous section, is the sensitivity on initial
conditions. This means that a small variation on a system’s initial conditions will
produce a totally different chaotic trajectory.
In this chapter, a very well-known representative of the class of non-autonomous
dynamical systems has been chosen. This is the second order nonlinear, non-
autonomous Duffing—van der Pol system [65], which is described by the following
set of differential equations (1).

ẋ = y (1)
ẏ = μ 1 − x 2 y − x 3 + B cos (ωt)
This system is called Duffing—van der Pol, because it contains in the second
equation the term, μ(1 − x 2 )y, which is a characteristic feature of the van der Pol
oscillator
dx2
2 dx
− μ 1 − x + x = 0, (μ > 0) (2)
dt 2 dt
Fig. 1 Bifurcation diagram

of x versus B, for
μ = 0.2 and ω = 4
and the cubic term x 3 of Duffing’s equation
dx2 dx
2
+a + bx + cx 3 = F cos (ωt) (3)
dt dt
The dynamic behavior of the Duffing—van der Pol system is investigated numer-
ically by employing the fourth order Runge–Kutta algorithm. The system’s rich
dynamical behavior is revealed in Fig. 1, which shows the bifurcation diagram of x
versus the parameter B, for ω = 4, while μ = 0.2. Periodic and chaotic regions alter-
nate as the parameter B increases while interesting dynamical phenomena, such as a
route to chaos, through a quasi-periodic region, and crisis phenomena (i.e. boundary
crisis), are also displayed. This richness of system’s dynamic behavior makes the
proposed non-autonomous system a suitable candidate for use in this work [9].
As it will be discussed in the next Section, the heart of the proposed robot’s
controller is the Poincaré map named by Henri Poincaré. This map is the intersection
of an orbit in the state space of a continuous dynamical system with a certain lower
dimensional subspace, called the Poincaré cross-section, transversal to the flow of
the system. So, in this case, the Poincaré map is produced by using the Poincaré
cross-section which is defined by

= (x, y, θ = ωt N ) ∈ R 2 × S 1 (4)
where t N = NT + t0 is the sampling time, t0 the initial time determining the location
of the Poincaré cross-section on which the coordinates (x, y) of the attractors are
expressed and T = 2π/ω is the period of the voltage source.
In Figs. 2, 3 and 4 three characteristic Poincaré maps for various values of the
parameter B of the bifurcation diagram of Fig. 1, in the case of μ = 0.2 and ω =
4, are displayed. From this figure the great utility of the Poincaré map can be seen,
since for different system’s dynamic behavior the Poincaré map has a totally different
form. As it is known, the various forms of the Poincaré map depending on system’s
dynamic behavior are:
• Discrete number of points for Periodic behavior.
• Closed curve for Quasi-periodic behavior.
• Strange attractor for Chaotic behavior.
Fig. 2 Poincaré map of y

versus x, for μ = 0.2, ω = 4
and B = 1 (quasi-periodic
behavior)

and B = 17 (chaotic
behavior)

and B = 19 (periodic
behavior)
3 The Chaotic Path Planning Generator
In this Section the path planning generator, which is the heart of the autonomous
robot, is presented. The specific proposal is based on a novel chaotic random number
generator. This generator produces a trajectory in a workspace, which is the result
of a sequence of planned target locations.
One of the methods to obtain aperiodic sequences is to use chaos which is defined
as “random” phenomenon generated by simple deterministic systems. Until now
there have been reported in literature many works on random number generation
based on chaos by using either continuous chaotic systems or discrete [4, 5, 14, 16,
17, 22, 24, 26, 27, 31, 32, 49, 56, 57, 64, 67, 68, 73, 74, 77, 78].
In the first case, continuous chaotic systems are used while in the second case
various discrete-time chaotic systems realized by analog circuits are also used as
random number generators, to generate aperiodic random number sequences. How-
ever, it is difficult to generate random sequences with good statistical properties due
to nonidealities of analog circuit elements and inevitable noise [23, 64]. Thus, there
have also been several works on post-processing of the chaos-based random numbers
[51, 60].
The proposed random number generator, which has been used in this work, is
based on a non-autonomous continuous chaotic system. So, for this reason, the values
of system’s parameters were selected so that the system is in chaotic state. In Figs. 5
and 6 the phase portrait and the respective Poincaré map for a chosen set of system’s
parameters are shown.
In more details, the proposed chaotic random number generator produced a
sequence of planned target locations following the procedure.
Step 1: The number of cells, in which the workspace has been divided, is specified.
In this work a square workspace with dimensions M = 30 × 30 = 900 in
normalized unit cells, is chosen.
Fig. 5 Phase portrait of y

versus x, for μ = 0.2, B =
1.175 and ω = 0.92

1.175 and ω = 0.92
Step 2: An area of the Poincaré map, that is dense in points, is selected. This happens
because the point’s density on the Poincaré map will guarantee the coverage
of the whole robot’s workspace. In Fig. 7, the selected area of the Poincaré
map (x ∈ [1.834, 2.044], y ∈ [–0.249, 0.407]) in the red box for the chosen
set of parameters (μ = 0.2, B = 1.175 and ω = 0.92) and initial conditions
(x0 , y0 ) = (1, 1), is presented.
Step 3: The selected area in the Poincaré map is divided in the same unit cells as
the workspace in Step 1. As it is shown in Fig. 7, all the cells of the selected
area have been visited by the system. This is an essential condition for the
success of robot’s mission.
Step 4: Each time that a point in one of the cells of the selected area is produced in
the Poincaré map, a target point in the coordination format (x, y) = (0, 0),
…, (30, 30) is also produced.
Fig. 7 The chaotic attractor

from the Poincaré map of y
1.175 and ω = 0.92, as well
as the chosen area
(x ∈ [1.834, 2.044],
y ∈ [–0.249, 0.407]) for
using in the chaotic path
planning generator
With the aforementioned procedure a sequence of target points in the robot’s

workspace is produced.
4 Simulation Results
In literature there has been presented a great number of works on kinematic con-
trol of chaotic robots, which is based mainly on a typical differential motion with
two degrees of freedom, composed by two active, parallel, and independent wheels
and a third passive wheel. However, the proposed, in this work, robot’s path plan-
ning generator represents an interesting compromise of simplicity between control
and implementation. So, it could be adopted by many commercial robotic models,
because the proposed kinematic control model is very easy to be implemented not
only in differential motion robots (Fig. 8), in which the robot rotates around itself
Fig. 8 The mobile robot

Khepera
followed by a linear displacement directly to the next position, but also in humanoid
robots (Fig. 9), which will have a rapid growth of interest in the upcoming decade.
Also, in the real world, robots move in spaces with boundaries like walls or obsta-
cles. Furthermore, many robots have sensors, like sonar or infrared devices, which
provide the capability to detect the presence of obstacles or even more the recogni-
tion of the searched objects or intruders. In this work, for a better understanding of
the behavior of the robot’s chaotic motion generator, we do not care about the kind
of robot (mobile or humanoid) and we assume that the robot works in a smooth state
space with boundaries and without any sensor.
Fig. 9 The humanoid robot

Kondo KHR-2HV
So, in this Section the proposed robot’s kinematic control was numerically simu-
lated and the results are presented in details. For this reason the workspace coverage,
using the well-known coverage rate (C), which represents the effectiveness, as the
amount of the total surface covered by the robot, is used. The coverage rate (C) is
given by the following equation
1
M
C= I (i) (5)
M i=1
where, I (i) is the coverage situation for each cell [8]. This is defined by the following
equation ⎧
⎨ 1, when the cell i is covered
I (i) = (6)
⎩
0, when the cell i is not covered
where, i = 1, 2, …, M. The robot’s workplace, as it is mentioned, is supposed to

be a square terrain with dimensions M = 30 × 30 = 900 in normalized unit cells.
Furthermore, a second interesting evaluation criterion is the coverage time of the
system, which is the total time for the system to cover the entire terrain.
The simulation starts from an arbitrary initial position, as the chosen (x0 , y0 ) =
(15, 15) in this work, which does not play any crucial role in coverage rate because
the robot follows a specific sequence of target points. Following the procedure, which
was explained in details in the previous Section, produces this sequence.
In order to accomplish the goal of complete terrain coverage, the robot must move
in every region, covering systematically the entire workspace. The results for the first
5,000 of the produced target points are shown in Figs. 10, 11 and 12. Especially, in
Fig. 10 the distribution of the target points over the entire terrain can be observed.
So, the number of the 5,000 target points is enough to cover almost all the workspace
(only 12 cells have not been visited). A more descriptive diagram, of the chaotic
robot’s behavior, is Fig. 11. In this figure a colour scale map of the terrain’s cells
versus the times of visiting is shown. The majority of the cells have been visited
from 0 to 10 times in those 5,000 iterations. As a conclusion we may note the almost
uniform distribution of the visiting times on the robot’s workplace.
Also, in Fig. 12 the trajectory of the chaotic mobile robot, with the adopted discon-
tinuous motion control, for the specific number of planned points (5,000) is shown.
A very important feature is raised from this plot. The robot, when is moving from one
target point to the next, visits other terrain’s cell, possibly many times with different
direction. As a consequence all the cells have been visited by the robot. This feature
is crucial, especially, in a patrolling mission.
In Fig. 13, the coverage rate versus the number of target points, for the robot
with the proposed chaotic motion generator, is shown, starting from the above men-
tioned, initial position. From this diagram the coverage of almost the entire terrain
Fig. 10 Workspace
coverage using the robot
with proposed chaotic
path-planning generator, for
the first 5,000 target points
Fig. 11 Colour scale map of

the workspace’s cells versus
the time of visiting
Fig. 12 The robot’s

trajectory evolution, after
5,000 path planned points,
with the adopted path
planning controller
Fig. 13 Coverage rate

versus the number of
planned points, for the robot
with the proposed chaotic
path-planning generator, for
5,000 planned points
is confirmed. Furthermore, the curve in Fig. 13 has an exponential form which is

confirmed by the fitting procedure with Origin. This fitting led to the conclusion that
the produced curve satisfies the following exponential function
y = y0 − Ae R0 x (7)
where, y0 = 98.95123, A = 97.46218 and R0 = −0.00103 with R-Square equal to

0.99972.
Finally, in comparison with other similar works [39, 40, 69, 71, 72, 75, 76], this
one shows very satisfactory results concerning the coverage rate and the scanning
time. So, the above mentioned simulation results confirmed that the proposed chaotic
robot satisfies the three basic requirements of autonomous robot’s motion, the unpre-
dictability of the trajectory, the complete and fast scanning of robot’s workplace by
following an exponential function.
5 Conclusion
In this chapter, a chaotic path planning generator for autonomous robots, mobile
or humanoid, is presented. This generator is based on a controller that defines the
position goal in each step by imparting the chaotic behavior.
Validation tests based on numerical simulations of the robot’s motion control, con-
firm that the proposed method can obtain very satisfactory results in regard to unpre-
dictability and fast scanning of the robot’s workplace. So, the proposed approach has
several interesting features and advantages.
As it is mentioned, this strategy ensures high unpredictability of robot trajecto-
ries, resembling a non-planned motion from external observer’s point of view. The
complete and fast scanning of the terrain is confirmed from the simulation results.
It is also important to mention, that the proposed strategy has an advantage over a
randomly planned motion, which is the deterministic nature of the chaotic control
law.
The proposed robot with the above mentioned features, such as unpredictability
and fast scanning of workplace, may have many interesting applications in var-
ious, industrial, civil and military activities. Floor-cleaning devices and military
autonomous robots for surveillance, patrolling or terrain exploration for explosives
may be some of the proposed chaotic robot applications.
Finally, the results of this chapter ensure that the application of chaotic systems,
in solutions for autonomous robots control strategies represents a very interesting
task for researchers of both scientific fields. Furthermore, the simulation results of
the proposed robot’s motion show that such strategy can be easily applied in real
robotic systems, many of which are commercially available. So, as a future work, an
experimental realization of the proposed motion controller will be studied.
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Nonlinear Observer Design for Chaotic
Systems
Abstract This work investigates the nonlinear observer design for chaotic systems.
Explicitly, we have applied Sundarapandian’s theorem (2002) for local exponential
observer design for nonlinear systems to design nonlinear observers for chaotic
systems with a single stable equilibrium point, viz. Wei-Wang system (2013) and
Kingni-Jafari system (2014). MATLAB simulations are provided to illustrate the
phase portraits and nonlinear observer design for the Wei-Wang and Kingni-Jafari
chaotic systems.
Keywords Nonlinear observers · Exponential observers · Observability · Chaotic

systems
1 Introduction
The observer design problem is to estimate the state of a control system when only
the plant output and control input are available for measurement. The problem of
designing observers for linear control systems was first introduced and fully solved by
Luenberger [21]. The problem of designing observers for nonlinear control systems
was proposed by Thau [59]. Over the past three decades, several techniques have
been developed in the control systems literature to the construction of observers for
nonlinear control systems [5].
A necessary condition for the existence of a local exponential observer for nonlin-
ear control systems was obtained by Xia and Gao [99]. On the other hand, sufficient
conditions for nonlinear observers have been derived in the control literature from
an impressive variety of points of view. Kou ey al. [14] derived sufficient conditions
for the existence of local exponential observers using Lyapunov-like method. In [11,
15, 16, 98], suitable coordinate transformations were found under which a nonlin-
S. Vaidyanathan (B)
Research and Development Centre, Vel Tech University, Avadi, Chennai 600062, Tamil Nadu,
India
e-mail: sundarvtu@gmail.com
© Springer International Publishing Switzerland 2016 19

S. Vaidyanathan and C. Volos (eds.), Advances and Applications in Nonlinear
Control Systems, Studies in Computational Intelligence 635,
DOI 10.1007/978-3-319-30169-3_2
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cents up, and club lunches, with an ample selection of good things to
eat, for fifty or sixty cents. You may pay more for your room and
bath, but you get more for your money, with better service. We made
it a rule to go to the newest, largest hotels, and indulge in every
comfort that was afforded. Why? Not to be extravagant, nor to say
that we had stopped at such or such hotels. After you have driven
day after day, and come in stiff and tired, there is no bed too soft and
no bathroom too luxurious to overrest your mind and body.
Economize in other ways if you must, but not on good food and
comfortable lodgings.
Our third day was still a drizzle; we would no sooner have the
top down than we would have to put it up again, and often the side
curtains as well. Our objective point was the charmingly quaint town
of Bedford, and the Bedford Arms. This part of Pennsylvania was
more beautiful than what we had been through, and every mile of the
day’s run was a pleasure.
I have not spoken of our lunches, a most important item by one
o’clock. We had brought a small English hamper, fitted with the usual
porcelain dishes, cutlery, tin boxes, etc., for four people, and unless
we were positive that a good place to eat was midway on the road,
we prepared a lunch, or had the hotel put one up for us. This latter
plan proved both expensive and unsatisfactory. Usually Toodles was
sent foraging to the delicatessen shops for fresh rolls, cold meats
and sandwiches, eggs, fruit, tomatoes, and bakery dainties, and the
hotel filled our thermos-bottles with hot coffee. We carried salt and
pepper, mustard, sweet and sour pickles, or a relish, orange
marmalade, or a fruit jam, in the hamper, and beyond that we took
no staple supplies on the whole trip. We met so many people who
carried with them a whole grocery-store, even to sacks of flour, that
you would imagine there was not a place to get food from the
Atlantic to the Pacific. Often later on we would meet these same
people and find that they had thrown or given away most of their
larder. Of course, the camping parties, which are legion, are houses
on wheels! Aside from the tents, poles, bedding, and cooking
utensils, we have seen stoves, sewing-machines, crates of tinned
foods, trunks full of every conceivable incumbrance they could buy,
strapped to the back and sides and even on the top of the car, and
usually the personal luggage jammed in between the mud-guards
and hood of the engine. A traveling circus is an orderly, compact
miniature in comparison. And the people!—sitting on top of a
mountain of baggage, or under it, the picture of woe and discomfort.
That may be fun, but I fear I have not developed a capacity for such
pleasure. Have you ever seen a party of this description unpack and
strike camp after a hot, broiling, dusty day of hard travel? You will do
as we did—drive right ahead until you come to a clean hotel and a
bath.
We have been told so often that one has to develop an “open-
air” spirit to really enjoy a long motor trip! Quite true! I can’t imagine
what the fun can be of touring in a closed limousine, and yet we
have met that particularly exclusive party more than once. On the
whole, an absence of flies, ants, mosquitoes, and sand and dust in
one’s bed and food does not detract from the pleasure of the trip. It
may be all right to endure such annoyances for a few days in the
woods, to fish or hunt—but weeks and more weeks of it! We admit
our “lack,” whatever it may be termed, and enjoy clean linen, hot
tubs, and tables that have legs not belonging to ants and spiders.
In Wisconsin we met a most unique and charming couple, both
past fifty, who had lived all over the world, even in South America, a
Mr. X and wife, from Washington, D. C. They were going on the
same route as we were, and back to Washington, via southern
California, the Yosemite, New Mexico, New Orleans, and then north.
So their trip would be twice as long as ours. They loved the open,
with that two-ton-equipment enthusiasm excelling all others we had
met. From an over-stocked medicine chest, so carefully stowed
away that they bought what they wanted en route rather than unload
everything to try to find it, to a complete wardrobe for every
occasion, which was never unpacked, they had every conceivable
utensil that a well-furnished apartment could boast of. They even
bought a small puppy, as a protection at night when camping; the
poor little beast caught cold and crawled under the pile and died.
They solved the lunch problem in a unique way. If they passed a
good corn-field, they “procured” a few ears and stopped at the next
farmhouse and calmly asked the loan of the kitchen for a short time,
and cooked their corn and bought bread and milk, etc. Mrs. X
remarked: “It is all so simple! We have all these things in case we
should need them, but they are so well packed in the car it is really
too bad to disturb them; so I live in one gown, and we buy what we
need, and it is most satisfactory.” Later we learned that they had
camped out just three nights in several weeks.
But I have digressed, and left you at the Bedford Arms, one of
the most artistic, attractive inns that we found. The little touches
showed a woman’s hand. Flowers everywhere, dainty cretonnes,
willow furniture, and pretty, fine china; in appearance, courtesy, and
efficiency, the maids in the dining-room might have come from a
private dwelling. Will someone tell me why there are not more such
charming places to stop at on our much-traveled main highways.
Why must hotel men buy all the heavy, hideous furniture, the
everlasting red or green carpets and impossible wall-paper, to make
night hideous for their guests—to say nothing of the pictures on their
walls? It is a wonder one can sleep.
There is much of interest to see in Bedford—really old, artistic
houses, not spoiled by modern gewgaws, set in lovely gardens of
old-fashioned flowers, neatly trimmed hedges, and red brick walks.
There were few early Victorian eyesores to mar the general beauty
of the town. As we were walking down the main street about sunset,
we heard a great chattering and chirping, as if a thousand birds were
holding a jubilee. Looking up, we found, on a projecting balcony
running along the front of all the buildings for two blocks, hundreds of
martins discussing the League of Nations and Peace Treaty quite as
vigorously as were their senatorial friends in Washington. They were
fluttering about and making a very pretty picture. It sounded like the
bird market in Paris on a Sunday morning, which, in passing, is an
interesting sight that few tourists ever see.
It was with regret that we left the next morning for Pittsburgh.
The day was clear and cool and the best part of the Lincoln Highway
was before us; in fact, the first real thrill so far, and one of the high
spots of the trip. This was a stretch of seven and a half miles of
tarvia road on the top ridge of the Alleghany Mountains, as smooth
as marble, as straight as the bee flies, looking like a strip of satin
ribbon as far as the eye could see. On both sides were deep ravines,
well wooded, and valleys green with abundant crops, and still higher
mountains rising in a haze of blue and purple coloring, making a
picture that would never be forgotten. The top was down and we
stopped the car again and again, to drink it in, and, as one of us
remarked, “We may see more grand and rugged scenery later on,
but we shall not see anything more beautiful than this”—and it
proved true.
We had come 442 miles, from New York to Pittsburgh, over fine
roads and through beautiful country. Approaching Pittsburgh, we
came in on a boulevard overlooking the river and “valley of smoke.”
Great stacks were belching out soot and smoke, obliterating the city
and even the sky and sun. They may have a smoke ordinance, but
no one has ever heard of it. We arrived at the William Penn Hotel, in
the heart of the business center of the city, a first-class, fine hotel in
every regard. We found the prices reasonable for the excellent
service afforded, which was equal to that of any New York hotel. The
dining-room, on the top of the house, was filled with well-dressed
people, and we were glad that we had unpacked our dinner clothes,
and appeared less like the usual tourist, in suits and blouses. It was
frightfully hot during our two days’ stay. You go out to drive feeling
clean and immaculate, and come in with smuts and soot on your
face and clothes, looking like a foundry hand. The office buildings
are magnificent, and out a bit in the parks and boulevards the homes
are attractive, and many are very handsome, especially in Sewickley.
But aside from the dirty atmosphere one is impressed mostly by the
evidences of the outlay of immense wealth. An enthusiastic brother
living there took us through a number of the business blocks, and
told us of the millions each cost and the almost unbelievable amount
of business carried on. I can only describe Pittsburgh as the
proudest city we visited. Not so much of the actual wealth
represented, but of what the billions had accomplished in great
industries. We went out in the evening and stood on one of the
bridges to look over the river lined with monster furnaces. The air
was filled with sparks, jets of flame bursting through the smoke. All
you could think of was Dante’s Inferno visualized. And what of the
men who spend their lives in that lurid atmosphere, never knowing if
the sun shone, nor what clean, pure air was like in their working
hours? I shall never look at a steel structure again without giving
more credit to the men who spend their waking hours in those hells
of heat and smoke than to the men whose millions have made it
possible.
The second day, nothing daunted by the heat, we went out to the
St. Clair Country Club for lunch and golf, about a twenty-mile run
through the suburbs. This is a comparatively small and new club, but
our host told us that they were soon to have a fine club-house and
improve the links. The location is attractive, and the luncheon was
delicious. We had brought our golf bags, tennis racquets, and
bathing suits with us, much to the amusement of our friends. After
sitting in the car day in and day out, I know of no better way to
stretch your legs and arms and to exercise your stiff muscles than to
put in a few hours at either game. My husband described this course
thus: “You have to hold on to a tree with one hand and drive with the
other, the bally course is so steep.” There are many more
pretentious country clubs and golf links about Pittsburgh, but this
small one had charm and a homelike atmosphere. Our last evening
we were taken to the “New China,” the last word in Chinese
restaurants—beautiful, clean, and artistic! You have your choice of
American or Chinese dishes. As we were looking for sensations, we
ordered some marvelous dishes with impossible names. One portion
was sufficient for three hungry people. The other two portions were
untouched. I do not know what we ate, but it was delicious. Truth
compels me to state that we were all ill for three days, and decided
to patronize home cooking in the future.
We did not get away until noon the next day, as our auto top had
been torn in the garage, and the manager kept out of sight until
noon, and then, after considerable pressure had been brought to
bear, he made a cash settlement of fifteen dollars, wishing us all the
bad luck his “Mutt and Jeff” mind could conjure.
III
OHIO AND DETOURS
We were assured that we should find good roads through Ohio to

Cleveland, where we were to take the D. & C. steamer to Detroit. If
we were to take this part of the trip again, we should certainly go to
Chicago, via Toledo and South Bend, Indiana. As we had relatives in
Detroit waiting in the heat to see us, and to depart for cooler climes,
we took the most direct route through Youngstown, Ohio, to
Cleveland. The roads were poor and the many detours were almost
impassable—over high hills, on narrow sandy roads, winding like a
letter S through the woods. One long stretch was so narrow that two
cars could not pass; so they had two roads, one going each way.
The Doctor remarked, “I wonder what would happen if a car broke
down on this detour.” Prophetic soul! He no sooner had said it than
we rounded a curve, and presto! there were six cars, puffing and
snorting, lined up back of an Overland car, which was disabled and
stuck fast in the sand. In half an hour there were ten cars back of
ours—and the sun setting over the hills, and fifty miles to
Youngstown! The owner of the car knew nothing of his engine.
Heaven save us from such motorists! But Heaven did not save us,
for we met dozens of men, headed for the wilds of somewhere, who
were as blissfully ignorant of what made the wheels go round as
their wives were.
It may have been a coincidence, but is nevertheless a fact, that
nearly every car we saw disabled, ditched, stuck in the mud or sand,
or being towed in, on the entire trip, was an Overland car. It really
became a joke. When we saw a wreck ahead of us, some one
exclaimed, “Dollars to doughnuts it is an Overland!”—and it generally
was. It used to be a common expression, “If you wished to really
know people, travel with them.” I would change it to “Motor, and grow
wise.” There were as many varieties of dispositions in that belated
crowd as there were people. Everyone got out of his car and went
ahead to the wreck, offering advice, growling, complaining, and
cursing Ohio detours. A few sat on the roadside and laughed,
chatted, or read the papers. As it was hot and dusty, we looked like
an emigrant train. My husband is an engineer with a knowledge of
cars. He suggested some simple remedy which enabled the man to
get his car to the next siding, and we all started with a whoop of joy
on the wretched road, leaving the Overland owner to spend the night
at a farmhouse near by.
Our troubles were not over. With a steep grade before us, I was
driving, going up steadily on second speed, when a real wreck
loomed up three-quarters of the way to the top of the hill. Two
drunken niggers had upset a rickety old truck loaded with furniture in
the center of the road, and their car had zigzagged across the road,
narrowly escaping a plunge down the steep embankment. You could
not pass on either side; so, with my heart in my mouth, I reversed,
backing our car into the farther side of the road, with two wheels in a
deep stony ditch, but safe from sliding down-hill on top of the cars
coming up back of us. It looked as if we were to share the fate of our
Overland friend and stay there indefinitely. We all jumped out and
tried to clear the house and lot out of our way. Those miserable
niggers just sat on top of the débris and refused to work. After
tugging at spring beds and filthy bedding, we succeeded in getting it
pushed to one side. I had had enough driving for one day, so gave
the wheel to my husband, and he started the engine. We did not
budge! The next half-hour was spent in filling up the ditch with
stones and making a bridge by covering the stones with boards.
Eventually the car started, pulling itself out of the slough of despair,
and narrowly escaped turning turtle. The Doctor, Toodles, and I all
called wildly, “Keep going! don’t stop!”—and on he climbed to the
top, while we trudged up through the dust, a quarter of a mile. All
that night I dreamt I was backing off the Alps into space.
Oh, what a tired, dirty party it was that drove up to the Ohio Hotel
in Youngstown that night! Someone had told us that there was a
good hotel in Youngstown, but we soon came to form our own
conclusions about hotels. This was a delightful surprise. Not only
good, but wonderful, for a city of the size of Youngstown. After we
were scrubbed and sitting down to a delicious dinner in the big cool
café, a broad smile spread over the table, and the Doctor suggested,
“You know, it really might have been worse!”
The next day we had more detours; but, in the main, the state
highways, when they could be traversed, were good. The rural
scenery through Ohio was pleasing, but we had left the Lincoln
Highway and the beautiful farms of Pennsylvania.
We reached Cleveland by four, driving directly to the D. & C.
wharves. The “Eastern States” was being loaded, and the monster
“City of Detroit III,” a floating palace, was starting out for Buffalo, I
believe. Although the week-end travel is always heavy, and this was
Friday, we were most fortunate in getting staterooms, with brass
beds (not bunks), running water, and a bathroom. It may be of
interest to state that the cost of shipping the car to Detroit, a night’s
run, was only $14.50. As we did not sail until nine o’clock, and we
could not go aboard nor leave the car, we drove out the Lake Shore
drive overlooking Lake Erie, through beautiful suburbs, with
attractive homes and gardens, and then something told us it must be
time to investigate the hotels. As we had all sampled the excellent
cooking at the Statler, we dined at the fine Cleveland Hotel—modern
in all its appointments, in good taste, and unexcelled service. We
remarked the appearance of the people. There was not a smartly
gowned woman in the dining-room, and the waiters had a monopoly
of the dress suits. Being hot, and in midsummer, and a more or less
transient gathering, might have been the reason. In many large
cities, in first-class hotels, we found the tired business men in
business suits and the women in skirts and blouses. Never did
anything taste more delicious than the broiled fresh whitefish, just
out of the lake, green corn on the cob, melons, and peaches. As long
as we remained in the Great Lakes region, we reveled in the
whitefish, broiled, sauté, or baked. It is the king of fresh-water fish.
I am beginning to realize that I am exhausting my descriptive
adjectives when it comes to hotels. Time was, not so very far distant,
when a hotel like the Cleveland was not to be found, except in
possibly half a dozen cities in this country. Now it is the rule. On all
our long trip, with the exception of three nights, we had perfectly
comfortable, clean double rooms, usually with twin beds, and private
baths with modern sanitary plumbing and an abundance of hot, not
tepid, water. We have been assured by the proprietors that the
change has been wrought by motorists who demanded better
lodgings. I think the farmer is the only member of society who still
holds a grudge against us as a class; but when he is the proud
possessor of a “Little Henry” he slides over to our side
unconsciously. A book could be written on “Motoring as an art, a
profession, a pastime, a luxury or a necessity, a money maker or a
spender, a joy or a nuisance”—and then much more!
Before leaving Cleveland I must speak of its fine municipal
buildings, its many industries, and its far-famed Euclid Avenue, once
the finest of streets, lined on both sides with massive, splendid
residences, many with grounds a block square; alas! long since
turned into boarding-houses, clubs, and places of business—the
inevitable transition from a small to a great city.
Our trip across Lake Erie was quiet and cooling. That is not
always the case, even on such big steamers as the D. & C. line
affords. I have seen that lake lashed into fury by waves that rocked
the largest boat like a cockleshell. Breakfast on the steamer was all
that could be desired. It was some time before we had the car on the
dock, ready to start to our hotel in Detroit. The ride up the river had
been interesting, past old Fort Wayne, the Great Lakes engineering
plant and dry docks, and the grain elevators; even at that early hour
(seven A. M.) the wharves were alive with the bustle of trade.
Here I pause. Detroit was my home city and that of my father
and grandfather in territorial days. My earliest recollections of it were
of broad streets, fine homes, and an atmosphere of dignified culture
and home-loving people. But now! It has outgrown recognition. It has
outgrown every semblance of its former charm. Like Cleveland, the
old homes on the principal avenues are all given over to trade, and
the streets down-town are overcrowded, noisy, and well-nigh
impassable. The Statler is a new and fine hotel. We went to the
Pontchartrain, formerly the old Russell House, which in its palmy
days, in the Messrs. Chittenden régime, was the center of the social
life of Detroit. It has passed through several hands, and is now
doubtless torn down. We found it run down and undesirable in every
way. Even then we felt more at home there and made the best of
things. We spent two and a half days, as hot as I ever experienced.
The nights were so hot that sleep was out of the question. A drive
around the Island Park, Belle Isle, cooled us off a bit. Thousands
were taking advantage of the municipal bathhouses or a swim in the
river.
If the city has been spoiled down-town, it has been equally
beautified in the outlying sections. The drive to Grosse Pointe along
Lake St. Clair has ten miles of residences unsurpassed in America.
The magnificent home of Senator Truman Newberry and dozens of
others that could be mentioned, set in acres of highly cultivated
grounds, commanding an unobstructed view of Lake St. Clair, are
worthy of a special trip to Detroit to see.
We lunched at the Country Club, but weakened when it came to
trying the celebrated golf links. It was too boiling hot! There were not
more than a dozen people at the club. Usually the place was
crowded. There are other fine clubs and links about Detroit, and the
city seems to have gone golf mad—a very healthful form of insanity!
The Detroit Athletic Club, in the business center, claims to be the
finest private city club in America. If patronage is any indication of its
excellence, this must be true. My brother, Mr. L., gave us a beautiful
dinner there, and we certainly have not seen anything to surpass it.
Our time was all too quickly spent, and the heat literally drove us out
of town. Before leaving, we paid our respects to the mayor, Mr. C.,
an old-time friend. While we were pleasantly chatting with him and
he was graciously offering us the keys of the city, my husband had a
summons served on him and the car locked for leaving it more than
an hour at the curb. He was taken to police headquarters and paid
his fine and then returned for us. As we were praising the efficiency
of the mayor, he gave us a knowing smile, and some days later
showed us his summons!
IV
ON TO CHICAGO
I realize that I am giving a most unsatisfactory picture of the

Eastern and Middle-West cities. Our time was limited, and space
forbids my giving anything but a cursory glance, a snapshot view, of
their size and beauty. And, then, most tourists visit these places and
the reading public have an intimate knowledge of them.
We left Detroit, having been told at the Michigan Automobile
Association that we should find excellent roads. As one prominent
broker remarked, “You can drive the length of the state on
macadamized roads.” Where were they? Surely not the way we
went, the way described in the Blue Book. And let me state right here
that we have never had much faith in that publication, and now what
little we had is nihil! A few miles out of the city we struck a detour
which lasted nearly to Ann Arbor. We had left at six o’clock, and
when we reached the university city all places to dine were closed.
We did not dine. We had pot-luck supper at a Greek restaurant, and
started for Jackson to spend the night. Ann Arbor is a beautiful
place, and the university buildings and fraternity houses are second
to none of all we saw in other states. The road did not improve, and
we arrived at Jackson very late and put up at the Otsego Hotel. It
was crowded, and we were given the “sample rooms,” in which the
traveling-men displayed their goods on long tables. We had
comfortable beds and private baths, but you felt as if you were
sleeping in a department store, with the counters covered with white
cloths. Otherwise, the Otsego is a good hotel, and we were perfectly
comfortable. By the time we were through breakfast, we asked to
have a lunch put up, and were kindly but firmly told that it was nine-
thirty, and the chef had gone home and locked up everything. We
pleaded for some hot coffee and anything cooked that was left from
breakfast. But no, not a sandwich nor a roll could we buy! We met
this condition time after time. If we arrived at a hotel after eight
o’clock in the evening, we were met with the same retort—“Chef
gone and everything closed.” A dozen times and more we were
obliged to go out and forage for supper—“due to the eight-hour law,”
we were always told. As it was nearly ten o’clock, we trusted to luck
to find a lunching-place en route. Fortune certainly favored us in the
most unexpected way—not in our roads, which still were poor, but in
the shape of two little girls on the wayside. As we were passing
through a hamlet called Smithfield—before reaching Albion—we
were attracted by two dainty girls with baskets of goodies waiting for
us. Their names were Evelyn and Willetta Avery, and they proved to
be fairy godmothers. Their mother owned the neighboring farm, and
these children were spending their vacation in supplying lunches to
passers-by. Everything was done up in fresh napkins and was real
home cooking. This is what we bought from them: a quart of fresh
blueberries (which Toodles, in her joy, promptly upset in the tonneau,
and we walked on blueberries for days!), fresh cake, pie, honey,
hard-boiled eggs, tongue sandwiches, hot bread and rolls, a pat of
sweet butter, and oh! such home-made pickles, raspberry jam (a pint
glass), and a bottle of ice-cold spring water, an abundance for four
hungry grown-ups, and all for $2.10. We gave them both liberal tips
and they smiled and waved us out of sight. That was a banner
luncheon, and the best but one on the trip.
We stopped in the interesting city of Albion. The college was
founded and endowed by General Fisk, of Civil War fame, whose
only daughter, Mrs. P., is one of New York’s most beautiful and
prominent women. That afternoon about four we came to Battle
Creek, and as the Doctor’s eyes were troubling him, from the heat
and dust, we drove to the sanatorium, where he could receive
treatment. It is an immense place and beautifully kept up. We were
sitting in the car outside, watching the crowds of patients with their
friends, when a number of wagons, like popcorn wagons, came into
view, pushed about by the white-robed attendants. The wagon itself
and the four uprights were covered with white cloth and festooned
with fresh vines and flowers. In the center, hidden from view, was an
ice-cream freezer, and young girls in white, carrying flowers, were
dispensing ice-cream cones at five cents each. It was as pretty a
sight as I ever saw. The carts were wheeled through the grounds
and everyone, sick or well, indulged. It was our first introduction to
ice-cream cones, but we acquired the habit; and thereafter our
afternoon tea consisted of ice cream, generally bought at a soda-
water fountain in some small town along our road. It may be
fattening, but it is nourishing and refreshing. Even in the tiny hamlets
on the plains of Montana we found good, rich ice cream. It is
certainly an American institution and a very palatable one.
We had come ninety miles over bad roads, and it was 160 miles
to Chicago, so we decided to stop at Paw Paw for the night. We
drove through the town and inquired which was the best hotel—our
usual question—and were told that they had two, but the Dyckman
House was first-class—a typical small country hotel, with little
promise of comfort. We were shown into big, comfortable rooms with
one private bath; but were told that “supper was over.” The manager
was a typical small-town person of importance, but had a kindly eye,
and looked amenable to persuasion. The others had given up hope;
not so with me! Then and there I invented a “sob-story” that would
have melted Plymouth Rock. It became our stock in trade, and many
a supperless night we would have had without it. After praising up
the town and his hotel, and saying that we had heard of its
hospitality, and so forth; that we were strangers, and had come all
the way from New York; that we were tired and hungry, and I really
was not very well; and that the price was no consideration, etc., he
walked out to the kitchen and caught the cook with her hat on ready
to depart, gave his orders, and in twenty minutes we were doing full
justice to a perfectly good supper. After we had finished, I went out
into the summer kitchen and found a good-natured Irish woman, as
round as she was pleasing, fanning herself. I gave her a dollar,
thanked her for staying, and made a friend for life.
Even in Michigan our New York license attracted much attention.
When we came out of a hotel or store, a crowd of people had
invariably gathered about the car and were feeling the tires. The size
seemed to astonish them. The fact that we had come from New York
filled them with awe, and when, in fun, we said we were going to San
Francisco, they were speechless! “Aw, gaw on!” or “By heck!” was all
that they could exclaim.
Our last taste of Michigan roads was worse than the first. We
went by the way of Benton Harbor, with sandy detours and
uninteresting country, until we struck the strip of Indiana before
coming into South Chicago. Our troubles were over for a long time. A
breeze had come up from the lake, and we slept under blankets that
night for the first time in two weeks. We were all familiar with
Chicago, and we wished to stop out on the Lake Shore, if possible.
We drove through the city, out on the North Shore Boulevard to the
Edgewater Hotel, of which we had heard charming reports. A block
below the hotel cars were parked by the dozens. It is built directly on
the shore, with the most remarkable dining-room at the water’s edge,
like the deck of an ocean liner, filled with palms, flowers, and smartly
dressed people, many in evening clothes. The tables were all
reserved, and so were the rooms, two weeks in advance—this was
the pleasant news that awaited us! Could they take us in the next
day? “No, possibly not for a week or more.” No “sob-story” to help us
here! But the clerks were obliging and advised our going about ten
miles farther out, to the North Shore Hotel in Evanston, which we
found delightful in every way—very near the lake, quiet, furnished in
exquisite taste, and good food at reasonable prices. But even here
we found the eight-hour law in force; we could not get a bite after
eight o’clock. We went to half a dozen restaurants—all closed! In
desperation we went into what looked to be a candy store, and found
they were closing up the café! They could serve nothing but ice
cream and sodas. We asked to see the manager and told him our
plight. He was an Eastern man, a long-lost brother. He said, “As you
placed your order just before eight o’clock, of course we shall serve
you.” It was quite nine by this time. He kept his face straight, and we
tried to do the same. That dinner certainly did touch the spot! It was
the “Martha Washington Café,” and certainly immortalized the
gracious lady for all time for us. Later we went back to the
Edgewater Hotel for our mail and to dine, and we were more
charmed with it than before.
We had come 1028 miles from New York. Our car had to be
thoroughly cleaned, oiled, and looked over; so we were without it for
two days. The street-car strike was on in full force, not a surface car
moving in the city. Consequently, we walked, rested, and saw but
little of the city. It was quite ten years since any of us had been there;
in that time Chicago had grown and been so improved that we hardly
knew it. If Pittsburgh people are proud of their city, Chicagoans are
the original “boosters.” Nature has done so much for its location. Its
system of parks and boulevards is not equaled by any city. There is
a natural, outspoken pride evinced by the people of the best class—
not ashamed of a humble beginning, but glorying in the vast
importance of the commercial and financial life. To quote from the
folder of the Yellowstone Trail, which we picked up here and followed
without any trouble to St. Paul, Minnesota, “Nothing need be said
about Chicago. Chicago is the heart of America and speaks for
herself.” Other cities may challenge this, but there is every evidence
of its truth. In time, Chicago will give New York a good race; in fact,
she is doing it now.
Our genial Doctor left us here, much to our regret. We went on, a
select party of three.
V
THROUGH THE DAIRY COUNTRY
“A good road from Plymouth Rock to Puget Sound.” Thus reads

the Yellowstone Trail folder. If you really believe a thing, you may be
excused for stating it as a truth. The trusting soul who wrote that
alluring statement has never been over the entire trail, or I am
greatly mistaken. Credit must be given for the system of marking the
trail. At every turn, right or left, the yellow disk is in plain sight.
On leaving Chicago, we went through Lincoln Park and up the
Sheridan Road to Milwaukee. The road is a wonderful boulevard,
with beautiful homes and estates and glimpses of Lake Michigan,
past the Great Lakes Naval Training Station, now the largest in the
United States. We had heard much of Zion City. Driving down its
main street was like a funeral. The houses were closed, the buildings
seemed deserted, and the only evidences of life were two men, a
horse and wagon, and a stray dog! We found a good macadam road
to Oshkosh from Milwaukee and many such stretches through
Wisconsin. At times the road followed closely the shore of Lake
Winnebago, and then would wind through fertile dairy country.
Trainloads of butter and cheese are shipped from here each year,
and high-bred dairy cattle are raised for the market. Was it not
strange that we did not have Wisconsin cheese on the menu at any
hotel in that state? Several times we asked for it, but no cheese was
forthcoming.
The first night we put up at Fond du Lac, at Irvine Hotel. It was
fairly good, but a palace compared with what we found the next night
at Stevens Point—the Jacobs Hotel. This was our first uncomfortable
experience—a third-rate house, with no private bath, hard beds in
little tucked-up rooms, a bowl and pitcher with cold water and two
small towels the size of napkins, and the most primitive table you
could imagine. The weather had kept cool and clear, but the sandy
roads with deep ruts were awful! As it had rained in the night, the
clerk assured us next morning that four cars were stuck in the road
west of the town, and we had better not start. We asked him if there
was a good hotel at Marshfield. “Good hotel! Well, you folks just wait
till you see it! They actually have Brussels carpet on the floor of the
dining-room! Good hotel, eh? Nothin’ better this side of Chicago!”
The cars were lined up in the street waiting to start. The clouds
looked heavy and threatening, and not a ray of blue sky. Everyone
was talking to someone. The formalities are discarded on such
occasions. We fell into conversation with a charming man, Mr. H.,
from Fargo, North Dakota. Later we found that he was the ex-
governor, and his name was sufficient to get anything you wanted in
the Northwest. He and his family were touring to New York; so we
exchanged maps and experiences, and he gave us a list of towns
and hotels that proved invaluable, with the kindly remark, “If you will
show the hotel clerks this list with my name, I am sure you will be
well taken care of.” We certainly were—and more!—from there to
Yellowstone Park.
We found the Blodgett Hotel at Marshfield—with a really, truly
carpet in the dining-room—a good hotel, clean and comfortable. The
next day we had two hundred miles to go to St. Paul, and were
promised good roads. Colby, Eau Claire, and Chippewa Falls are all
attractive towns. Wisconsin boasts of six thousand lakes. It certainly
is a paradise for the huntsman and the angler—“The land with charm
for every mile.” The method of numbering the state highways is the
best we have found. You simply can’t lose your way. We,
unfortunately, had several long detours and did not reach St. Paul
until one A. M., a very sleepy trio, in a disreputable-looking car.
VI
CLOTHES, LUGGAGE, AND THE CAR
We decided to take as little luggage as possible. In the end, we

found that we had more than ten people would need. Each of us had
a large dress-suit case, a small handbag with toilet articles, an extra
bag for soiled linen (which proved useful), two golf-bags, with
umbrellas and rubbers (which were never used), a case of tennis-
rackets and balls, a shawl-strap with a heavy rug, rain-coats and top-
coats for cold weather, the lunch-hamper, and a silk bag for hats.
The tonneau was comfortably filled, with still room for two, and even
three, people. The thermos-bottles were stowed away in the side-
pockets, easy of access. All the maps were in the right-hand front
pocket by the person sitting with the driver. We had an old rug which
was so disreputable that no one would steal it; we had been on the
point of throwing it away a dozen times, but after it came from the
cleaners we hadn’t the heart to leave it behind. That old relic proved
to be the joy of the trip. We sat on it when lunching on the roadside,
used it to protect the car from the bags and golf-clubs, and when we
had a puncture down it went under the car to avoid collecting all the
dust of the road on my husband’s clothes. We still have it, and
consider the old veteran deserves a pension for life. My advice—
take an old rug!
And our clothes: Of course, a silk or an alpaca dust-coat; linen
soon shows soil and looks mussy. This applies to the ladies. I won’t
attempt to advise men, for they will wear what best suits them. We
wore one-piece gowns of serge, and, when it was hot, voile or even
gingham. We each had a silk afternoon frock, which would shake out
and look presentable for dinner, a black evening gown for dress-up
occasions, a half-dozen crêpe de chine blouses, and a cloth suit. We
could have done without the suits. They were used but once or
twice. We all took heaps of under-linen, only to find that we could get
one-day laundry service in any good hotel, and could buy almost
anything in the cities, and even in the small towns. The color of our
linen resembled coffee at times, but, aside from that unpleasant
feature, we could keep clean and comfortable with no trouble. We
each had a sport skirt, a sweater, shoes, a pair of evening pumps, a
pair of heavy top-boots, and two pairs of Oxford ties, black and tan,
with sensible heels. In driving, I soon found the long-vamp, pointed
toe not only a nuisance, but dangerous, and used an old-fashioned,
round-toed low shoe. Hats! There every woman is a law unto herself.
We each had a good-looking hat in the hat-bag, which, after being
tied to the rug-rail, sat on, smashed by the bags, and wet a few
times, still kept our hats very presentable. Straw hats will break and
be ruined. Those made of ribbon or black satin will withstand the
weight of a ton of luggage and come out looking fairly decent. Wash
gloves proved practical, also white Shetland veils. Toodles was
swathed like an escaped harem beauty; but one good Shetland veil,
well tied and pinned in, kept my sailor hat in place comfortably, even
when the top was down and I was driving. The hat with a brim is a
necessity when the sun shines for weeks at a time. I did not wear
motor goggles, but the others did. Through all the Western states we
found the female population in khaki breeches and puttees, khaki
blouses, and hats like a sun-bonnet or a cowboy’s sombrero, and
occasionally a coat to match, which was short and of a most
unbecoming length. Often high tan boots were substituted for the
puttees. It was a sensible costume, and well adapted to the country
and life in the open that Western women lead. They all rode astride,
wisely. Often we met parties of four in a Ford just hitting the high
spots on the road.
The farther we went into the real West, the West of the movies
and the early days pictured by Bret Harte, we realized what part
these Western women had played, and were still playing, in their
unselfish, brave, industrious, vital lives, in the opening and
developing of that vast territory, and in making such a trip as ours
comfortable, safe, and even possible. I think, if I ever take the trip

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Advances and Applications in

Nonlinear Control Systems 1st Edition

Advances in Memristors Memristive Devices and Systems

Nonlinear control systems using MATLAB First Edition

Stability and Control of Nonlinear Time varying Systems

Nonlinear Systems and Circuits in Internal Combustion

Recent Results on Nonlinear Delay Control Systems: In

Harmonic Balance Finite Element Method: Applications in

Adaptive Critic Control with Robust Stabilization for

Advances in Control System Technology for Aerospace

The series “Studies in Computational Intelligence” (SCI) publishes new develop-

More information about this series at http://www.springer.com/series/7092

Advances and Applications

ISSN 1860-949X ISSN 1860-9503 (electronic)

Library of Congress Control Number: 2016932741

© Springer International Publishing Switzerland 2016

Printed on acid-free paper

This Springer imprint is published by Springer Nature

About the Subject

Control theory is a multidisciplinary branch of engineering that concerns with the

About the Book

applications of nonlinear control systems. Special importance was given to chapters

Objectives of the Book

This volume presents a selected collection of contributions on a focused treatment

Organization of the Book

This well-structured book consists of 30 full chapters.

Kinematic Control of a Robot by Using a Non-autonomous

Active Controller Design for the Output Regulation

Variable Structure Sensorless Control of PMSM Drives . . . . . . . . . . . . 505

Ch.K. Volos, D.A. Prousalis, S. Vaidyanathan, V.-T. Pham,

Ch.K. Volos (B) · D.A. Prousalis

© Springer International Publishing Switzerland 2016 1

Keywords Chaos · Non-autonomous dynamical system · Duffing—van der pol

2 The Duffing—van der Pol System

In literature, chaos refers to some dynamical phenomena considered to be complex

• It must be topologically mixing,

Fig. 1 Bifurcation diagram

and the cubic term x 3 of Duffing’s equation

Fig. 2 Poincaré map of y

Fig. 3 Poincaré map of y

Fig. 4 Poincaré map of y

3 The Chaotic Path Planning Generator

Fig. 5 Phase portrait of y

Fig. 6 Poincaré map of y

Fig. 7 The chaotic attractor

With the aforementioned procedure a sequence of target points in the robot’s

Fig. 8 The mobile robot

Fig. 9 The humanoid robot

where, i = 1, 2, …, M. The robot’s workplace, as it is mentioned, is supposed to

Fig. 11 Colour scale map of

Fig. 12 The robot’s

Fig. 13 Coverage rate

is confirmed. Furthermore, the curve in Fig. 13 has an exponential form which is

where, y0 = 98.95123, A = 97.46218 and R0 = −0.00103 with R-Square equal to

44. Munoz-Pacheco JM, Tlelo-Cuautle E, Flores-Tiro E, Trejo-Guerra R (2014) Experimental syn-

Keywords Nonlinear observers · Exponential observers · Observability · Chaotic

© Springer International Publishing Switzerland 2016 19

OHIO AND DETOURS

We were assured that we should find good roads through Ohio to

I realize that I am giving a most unsatisfactory picture of the

THROUGH THE DAIRY COUNTRY

“A good road from Plymouth Rock to Puget Sound.” Thus reads

CLOTHES, LUGGAGE, AND THE CAR