{"id":"https://openalex.org/W1970786494","doi":"https://doi.org/10.1109/tac.2014.2325692","title":"Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion","display_name":"Generalizing Negative Imaginary Systems Theory to Include Free Body Dynamics: Control of Highly Resonant Structures With Free Body Motion","publication_year":2014,"publication_date":"2014-05-20","ids":{"openalex":"https://openalex.org/W1970786494","doi":"https://doi.org/10.1109/tac.2014.2325692","mag":"1970786494"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2014.2325692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2325692","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042556381","display_name":"Mohamed A. Mabrok","orcid":"https://orcid.org/0000-0003-3638-4424"},"institutions":[{"id":"https://openalex.org/I40053085","display_name":"Australian Defence Force Academy","ror":"https://ror.org/02j5s7g39","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I40053085","https://openalex.org/I4394709116"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Mohamed A. Mabrok","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales at the Australian Defence Force Academy, Canberra, ACT, Australia","Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales at the Australian Defence Force Academy, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I40053085","https://openalex.org/I31746571"]},{"raw_affiliation_string":"Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061205329","display_name":"Abhijit G. Kallapur","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]},{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["AU","GB"],"is_corresponding":false,"raw_author_name":"Abhijit G. Kallapur","raw_affiliation_strings":["Control Systems Centre, School of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"Control Systems Centre, School of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011597574","display_name":"Ian R. Petersen","orcid":"https://orcid.org/0000-0003-4856-9450"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]},{"id":"https://openalex.org/I40053085","display_name":"Australian Defence Force Academy","ror":"https://ror.org/02j5s7g39","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I40053085","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ian R. Petersen","raw_affiliation_strings":["School of Engineering and Information Technology, University of New South Wales at the Australian Defence Force Academy, Canberra, ACT, Australia","Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, University of New South Wales at the Australian Defence Force Academy, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I40053085","https://openalex.org/I31746571"]},{"raw_affiliation_string":"Sch. of Eng. & Inf. Technol., Univ. of New South Wales at the Australian Defence Force Acad., Canberra, ACT, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052838619","display_name":"Alexander Lanzon","orcid":"https://orcid.org/0000-0003-3424-8808"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alexander Lanzon","raw_affiliation_strings":["Control Systems Centre, School of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","Control Systems Centre, University of Manchester , Manchester, UK"],"affiliations":[{"raw_affiliation_string":"Control Systems Centre, School of Electrical and Electronic Engineering, University of Manchester, Manchester, U.K","institution_ids":["https://openalex.org/I28407311"]},{"raw_affiliation_string":"Control Systems Centre, University of Manchester , Manchester, UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042556381"],"corresponding_institution_ids":["https://openalex.org/I31746571","https://openalex.org/I40053085"],"apc_list":null,"apc_paid":null,"fwci":15.5878,"has_fulltext":false,"cited_by_count":166,"citation_normalized_percentile":{"value":0.9910176,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"59","issue":"10","first_page":"2692","last_page":"2707"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7472169995307922},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7308516502380371},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6501332521438599},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5035931468009949},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.48981520533561707},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.48619240522384644},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47949081659317017},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4551257789134979},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45183005928993225},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4095952808856964},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4022272527217865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3694230616092682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3042394816875458},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2533986568450928},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18157988786697388},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15512171387672424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1299583613872528}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7472169995307922},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7308516502380371},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6501332521438599},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5035931468009949},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.48981520533561707},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.48619240522384644},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47949081659317017},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4551257789134979},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45183005928993225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4095952808856964},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4022272527217865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3694230616092682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3042394816875458},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2533986568450928},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18157988786697388},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15512171387672424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1299583613872528},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2014.2325692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2325692","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/de0174eb-d6b7-43cc-9644-51ccb5860660","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/de0174eb-d6b7-43cc-9644-51ccb5860660","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mabrok, M A, Kallapur, A G, Petersen, I R & Lanzon, A 2014, 'Generalizing negative imaginary systems theory to include free body dynamics: Control of highly resonant structures with free body motion', IEEE Transactions on Automatic Control, vol. 59, no. 10, 6819061, pp. 2692-2707. https://doi.org/10.1109/TAC.2014.2325692","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.744.9758","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.744.9758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/1305.1079.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8160558843","display_name":null,"funder_award_id":"EP/F06022X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"},{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W561376063","https://openalex.org/W1498171500","https://openalex.org/W1499655155","https://openalex.org/W1523365071","https://openalex.org/W1539874772","https://openalex.org/W1545147508","https://openalex.org/W1580625875","https://openalex.org/W1970786494","https://openalex.org/W1974419775","https://openalex.org/W1993548585","https://openalex.org/W2002552204","https://openalex.org/W2003938375","https://openalex.org/W2012497206","https://openalex.org/W2021351290","https://openalex.org/W2023387203","https://openalex.org/W2029817990","https://openalex.org/W2031913932","https://openalex.org/W2039286275","https://openalex.org/W2041192833","https://openalex.org/W2056093962","https://openalex.org/W2058209887","https://openalex.org/W2060940830","https://openalex.org/W2065313971","https://openalex.org/W2068901771","https://openalex.org/W2073992666","https://openalex.org/W2096926238","https://openalex.org/W2099328873","https://openalex.org/W2100434865","https://openalex.org/W2103596163","https://openalex.org/W2115366739","https://openalex.org/W2119107920","https://openalex.org/W2120527410","https://openalex.org/W2121057923","https://openalex.org/W2124227251","https://openalex.org/W2126308613","https://openalex.org/W2126988936","https://openalex.org/W2129159705","https://openalex.org/W2130517972","https://openalex.org/W2142801418","https://openalex.org/W2147509943","https://openalex.org/W2147516154","https://openalex.org/W2149224820","https://openalex.org/W2162076672","https://openalex.org/W2163005618","https://openalex.org/W2166632579","https://openalex.org/W2168717647","https://openalex.org/W2170139682","https://openalex.org/W2499340036","https://openalex.org/W3100992617","https://openalex.org/W4248816015","https://openalex.org/W6660543897"],"related_works":["https://openalex.org/W2099333796","https://openalex.org/W1968853654","https://openalex.org/W2577357545","https://openalex.org/W2044900919","https://openalex.org/W2887125121","https://openalex.org/W2145590848","https://openalex.org/W2755887994","https://openalex.org/W2369699286","https://openalex.org/W3149490355","https://openalex.org/W2374143010"],"abstract_inverted_index":{"Negative":[0],"imaginary":[1],"(NI)":[2],"systems":[3,39,75],"play":[4],"an":[5,108],"important":[6],"role":[7],"in":[8],"the":[9,55,69,77,83,87,94,101,117],"robust":[10],"control":[11,74,118],"of":[12,58,71,100,110,119],"highly":[13],"resonant":[14],"flexible":[15,37,121],"structures.":[16],"In":[17],"this":[18],"paper,":[19],"a":[20,113,120,125],"generalized":[21],"NI":[22,29,59,80],"system":[23,30,105],"framework":[24],"is":[25,32,79,89,130],"presented.":[26,131],"A":[27],"new":[28,84],"definition":[31,53,85],"given,":[33],"which":[34],"allows":[35],"for":[36,68],"structure":[38],"with":[40,48,124],"colocated":[41],"force":[42],"actuators":[43],"and":[44,47,63,86,103,128],"position":[45],"sensors,":[46],"free":[49],"body":[50],"motion.":[51],"This":[52],"extends":[54],"existing":[56],"definitions":[57],"systems.":[60],"Also,":[61],"necessary":[62],"sufficient":[64],"conditions":[65,96],"are":[66,98],"provided":[67],"stability":[70,95],"positive":[72],"feedback":[73],"where":[76],"plant":[78,102],"according":[81],"to":[82],"controller":[88,104],"strictly":[90],"negative":[91],"imaginary.":[92],"Furthermore,":[93],"given":[97],"independent":[99],"order.":[106],"As":[107],"application":[109],"these":[111],"results,":[112],"case":[114],"study":[115],"involving":[116],"robotic":[122],"arm":[123],"piezo-electric":[126],"actuator":[127],"sensor":[129]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":20},{"year":2023,"cited_by_count":22},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":11},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":16},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}