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Books | Recent Book Chapters | Recent Journal Articles | Recent Conference Proceedings and Invited Papers Books Block, D.J., Astrom, K.J., and Spong, M.W., The Reaction Wheel Pendulum, Morgan & Claypool Publishers, 2007. Spong, M.W., Hutchinson, S., and Vidyasagar, M., Robot Modeling and Control, John Wiley & Sons, New York, 2006. Spong, M.W., Lewis, F., and Abdallah, C., eds., Robot Control Theory, IEEE Press, 1992. Spong, M.W., and Vidyasagar, M., Robot Dynamics and Control, John Wiley & Sons, New York, 1989. Recent Book Chapters M.W. Spong and N. Chopra, “Synchronization of Networked Lagrangian Systems,” In Lagrangian and Hamiltonian Methods for Nonlinear Control 2006, F. Bullo and K. Fujimoto (Eds.), Lecture Notes in Control and Information Sciences, Vol. 366, Springer Verlag, pp. 47-59, 2007. N. Chopra and Mark W. Spong, “Adaptive Synchronization of Teleoperators with Time Delay,” Advances in Telerobotics, M. Buss, ed., Springer-Verlag, pages 357-370, 2007. N. Chopra and Mark W. Spong, “Passivity-Based Control of Multi-Agent Systems,” in Advances in Robot Control: From Everyday Physics to Human-Like Movements, Sadao Kawamura and Mikhail Svinin, Editors, pp. 107-134, Springer-Verlag, Berlin, 2006. Spong, M.W., “Robust and Adaptive Motion Control of Manipulators,” Robotics and Automation Handbook, Chapter 17: pages 1-23, Thomas R. Kurfess, Editor, CRC Press, Boca Raton, FL, 2005. Chopra, N., Spong, Mark W., Ortega, R., and Barabanov, Nikita E., “Position and Force Tracking in Bilateral Teleoperation,” in Advances in Communication Control Networks, Sophie Tarbouriech, Chaouki T. Abdallah, and John Chiasson, Editors, Lecture Notes in Control and Information Sciences, Vol. LNCIS 308,pp. 269-280, Springer-Verlag, Berlin, 2005. Recent Journal Articles Wei Li and Mark W. Spong, “Stability of General Coupled Inertial Agents via Passive Decomposition,” IEEE Trans. Aut. Cont., to appear 2010. Silvia Mastellone, Dusan M. Stipanovic, Mark W. Spong, “Systems with Switching Equilibria: Modeling, Control and Applications,” Automatica, accepted for publication, 2010. Robert D. Gregg and Mark W. Spong, “Passivity and Symmetry-Breaking in the Controlled Geometric Reduction of Mechanical Systems,” IEEE Transactions on Automatic Control, submitted, 2010. Joohyung Kim, Chong-Ho Choi and Mark W. Spong, “Passive Dynamic Walking with Knee and Fixed Flat Feet,” International Journal of Control, Automation and Systems, submitted, 2010. Erick J. Rodriguez-Seda, James J. Troy, Charles A. Erignac, Paul Murray, Dusan M. Stipanovic, and Mark W. Spong, “Bilateral Teleoperation of Multiple Mobile Agents: Coordinated Motion and Collision Avoidance,” IEEE Transactions on Control Systems Technology, Vol. 99, No. 1, pp. 1-1, 2009. Erick J. Rodriguez-Seda, Dongjun Lee, and Mark W. Spong," Experimental Comparison Study of Control Architectures for Bilateral Teleoperators," IEEE Transactions on Robotics, Volume: 25, Issue: 6, pp. 1304-1318, 2009. Dongjun Lee, Daye Xu, Oscar Martinez-Palafox, and Mark W. Spong, “Haptic Tele-Driving of Wheeled Mobile Robot with Communication Delay,” Int. J. Robotics Research, submitted, April, 2009. Emmanuel Nuno, Luis Basanez, Romeo Ortega and Mark W. Spong, “Nonlinear Bilateral Teleoperation: Stability Tutorial,” Automatica, submitted for publication, 2009. Jonathan K. Holm and Mark W. Spong, “Kinetic Energy Shaping and Symmetry in Bipedal Locomotion,” IEEE Transactions on Robotics, submitted 2008. Leonid B. Freidovich, Uwe Mettin, Anton S. Shiriaev, Mark W. Spong, “A Passive 2DOF Walker: a Hunt for Gaits using Virtual Holonomic Constraints,” IEEE Transactions on Robotics, Volume: 25, Issue: 5, pp. 1202-1208, 2009. Peter F. Hokayem, Dusan M. Stipanovic, and Mark W. Spong, “Coordination and Collision Avoidance for Lagrangian Systems with Disturbances,” Automatica, submitted November 2009. Robert D. Gregg and Mark W. Spong, “Reduction-based Control of Three-Dimensional Bipedal Walking Robots,” Int. J. Robotics Research, Vol. 29, No. 6, pp. 680-702, May, 2010. Silvia Mastellone, Juan S. Mejia, Dusan M. Stipanovic, Mark W. Spong, “Formation Control and Coordinated Tracking via Asymptotic Decoupling for Lagrangian Multi-Agent Systems,” Automatica, accepted for publication, to appear 2010. Peter F. Hokayem, Dusan M. Stipanovic, and Mark W. Spong, "Networked Semiautonomous Control of Multiple Lagrangian Systems," Int. J. of Robust and Nonlinear Control, Volume 19 Issue 18, Pages 2040 - 2055, 2008. Emmanuel Nuno, Luis Basanez, Romeo Ortega and Mark W. Spong, "On Position Tracking for Nonlinear Teleoperators with Variable Time-Delay," Int. J. Robotics Research, Volume 28, No. 7, pp. 895-910, 2009. Emmanuel Nuno, Luis Basanez, Romeo Ortega, and Mark W. Spong, "Bilateral Teleoperation: Liapunov Stability Analysis, Automatica, submitted, 2008. Yuji Igarashi, Takeshi Hatanaka, Masayuki Fujita and Mark W. Spong, “Passivity-Based Attitude Synchronization in SE(3),” IEEE Trans. Cont. Systems Technology, Volume: 17, No. 5, pp. 1119-1134, 2009. Peter Hokayem, Mark W. Spong and Erick Rodriguez-Seda, “Stability of Quantized and Delayed Bilateral Teleoperators,” IEEE Transactions on Robotics, submitted, 2007. Mastellone, S., and Mark W. Spong, “Stability and Tracking for Systems with Time-Varying Delay,” Systems and Control Letters, submitted, August, 2006. Nikhil Chopra, Mark W. Spong and Rogelio Lozano, “Adaptive Coordination Control of Bilateral Teleoperators with Time Delay,” Automatica, Vol. 44, No. 8, pp. 2142-2148, 2008. Chopra, N., and Spong, M.W., “On Exponential Synchronization of Kuramoto Oscillators,” IEEE Trans. Aut. Cont., Volume: 54, Issue: 2, pp. 353-357, 2009. Chopra, N., Berestesky, P., and Spong, M.W., “Bilateral Teleoperation over Unreliable Communication Networks,” IEEE Transactions on Control Systems Technology, Vol. 16, No. 2, pp 304-313, March, 2008. D.M. Stipanovic, Peter Hokayem, Mark W. Spong, and D. Siljak, “Cooperative Avoidance Control for Multiagent Systems,” J. Dynamic Systems, Measurement, and Control, Vol. 129, pages 699-707, September, 2007. Silvia Mastellone, D. M. Stipanovi c, Christopher Graunke, Koji Intlekofer and Mark W. Spong, “Formation Control and Collision Avoidance for Multi-Agent Nonholonomic Systems: Theory and Experiments,” Int. J. Robotics Research, Vol. 27, No. 1, pp. 107-126, January, 2008. Lee, D-J. and Spong, M.W., “Stable Flocking of Inertial Agents on Balanced Communication Graphs,” IEEE Trans. Aut. Cont., Volume 52 Issue 8, Aug. 2007 Page(s):1469 - 1475. Fujita, M., Kawai, H., and Spong, M.W., “Passivity-Based Dynamic Visual Feedback Control for Three Dimensional Target Tracking: Stability and $L_2$-Gain Performance Analysis,” IEEE Transactions on Control Systems Technology, Vol. 15, No. 1, pp 40-52, January, 2007. (Winner of the 2008 IEEE TCST Outstanding Paper Award). Hokayem, P.F., and Spong, M.W., “Bilateral Teleoperation: An Historical Survey,” Automatica, Vol. 49, No. 12, December, 2006. Alessandro de Rinaldis, Romeo Ortega, and Mark W. Spong, “A Compensator for Attenuation of Wave Reflections in Long Cable Actuator-Plant Interconnections with Guaranteed Transient Performance,” Automatica, Volume 42, Issue 10 , October 2006, Pages 1621-1635. Chopra, N., Spong, M.W., Ortega, R., and Barabanov, N., “On Tracking Performance in Bilateral Teleoperation,” IEEE Transactions on Robotics, Vol. 22, No. 4, pp. 861-866, August, 2006. D. Lee and M.W. Spong, “Passive Bilateral Control of Teleoperators under Constant Time Delay, IEEE Transactions on Robotics, Vol. 22, No. 2, pp: 269-281, April, 2006. Alessandro de Rinaldis, Romeo Ortega, Mark W. Spong, “A compensator for attenuation of wave reflections in long cable actuator-plant interconnections with guaranteed stability,” Automatica, Volume 42, No. 10, pp. 1621-1635, 2006. Spong, M.W., and Bullo, F., “Controlled Symmetries and Passive Walking,” IEEE Transactions on Automatic Control, Vol. 50, No. 7, pp: 1025-1031, July, 2005. Recent Conference Proceedings and Invited Papers Robert D. Gregg, Timothy Bretl, and Mark W. Spong, “A Control Theoretic Strategy for Underactuated Human Gait Assistance,” IEEE Conference on Decision and Control, Atlanta, GA, December, 2010, submitted. Robert D. Gregg, Tim Bretl, and Mark W. Spong, “Asymptotically Stable Gait Primitives for Planning Dynamic Bipedal Locomotion in Three Dimensions,” IEEE Int. Conference on Robotics and Automation, Anchorage, AL, May, 2010. Jae-Sung Moon and Mark W. Spong, “Bifurcations and Chaos in Passive Walking of a Compass-Gait Biped with Asymmetries,” IEEE Int. Conference on Robotics and Automation, Anchorage, AL, May 3-8, 2010. Erick J. Rodriguez-Seda, Pedro O. Lopez-Montesinos, Dusan M. Stipanovic, and Mark W. Spong, “Passivity-Based Model Reference Robust Control for a Class of Nonlinear Systems with Input and State Measurement Delays,” American Control Conference, Baltimore, MD, June 2010. Oscar Martinez-Palafox and Mark W. Spong, “Bilateral Teleoperation of a Formation of Nonholonomic Mobile Robots under Constant Time Delay,” Int. Robotics and Systems Symposium (IROS), St. Louis, Mo. October 11-15, 2009. Erick J. Rodr iguez-Seda and Mark W. Spong, “A Time-Varying Wave Impedance Aproach for Transparency Compensation in Bilateral Teleoperation,” Int. Robotics and Systems Symposium (IROS), pp. 4609-4615, St. Louis, Mo. October 11-15, 2009. Robert D. Gregg, Mark W. Spong, “Bringing the Compass-Gait Bipedal Walker to Three Dimensions,” Int. Robotics and Systems Symposium (IROS), St. Louis, Mo. October 11-15, 2009. Oscar Martinez-Palafox and Mark W. Spong, “Bilateral Teleoperation of a Formation of Nonholonomic Mobile Robots Under Constant Time Delay: Experiments,” 18th IEEE International Symposium on Robot and Human Interactive Communication, Toyama, Japan, Sep. 27-Oct. 2, 2009. Robert D. Gregg, Mark W. Spong, “Reduction-Based Control of Branched Chains: Application to Three-Dimensional Bipedal Torso Robots,” IEEE Conference on Decision and Control, Shanghai, China, December, 2009. Masayuki Fujita, Naoto Kobayashi, Takeshi Hatanaka, Mark W. Spong Visual Observer-based Motion Synchronization: A Passivity Approach,” IEEE Conference on Decision and Control, Shanghai, China, December, 2009. Kunal Srivastava, Dusan M. Stipanovic, Mark W. Spong, “On a Stochastic Robotic Surveillance Problem,” IEEE Conference on Decision and Control, Shanghai, China, December, 2009. Leonid B. Freidovich, Anton S. Shiriaev, Uwe Mettin, Mark W. Spong, “A Passive 2DOF Walker: Finding Gait Cycles using Virtual Holonomic Constraints,” IEEE Conference on Decision and Control, 5214-5219, Cancun, Mexico, December, 2008. R. Lozano, Mark. W. Spong, J.A. Guerrero, and Nikhil Chopra, “Controllabilty and Observability of Leader-Based Multi-Agent Systems,” IEEE Conference on Decision and Control, pp. 3713-3718, Cancun, Mexico, December, 2008. Yuji Igarashi, Takeshi Hatanaka, Masayuki Fujita and Mark W. Spong, “Passivity-based Output Synchronization and Flocking Algorithm in SE(3),” IEEE Conference on Decision and Control, pp. 1024-1029, Cancun, Mexico, December, 2008. Silvia Mastellone and M.W. Spong, "Stabilization of Delayed Linear Systems via Signal Reconstruction," IEEE Conference on Decision and Control, 2087-2092, Cancun, Mexico, December, 2008. Chopra, N. and Spong, M.W., "Output Synchronization on Strongly Connected Graphs," Mathematical Theory of Networks and Systems Symposium, Blacksburg, VA., 2008. Jonathan K. Holm and M.W. Spong, "Kinetic Energy Shaping for Gait Regulation of Underactuated Bipeds", Multiconference on Systems and Control, pp. 1232-1238, San Antonio, TX, 2008. Emmanuel Nu no, Luis Basa nez, Romeo Ortega and Mark W. Spong, "On the Asymptotic Zero-Convergence of Position Error for Teleoperated Robots with Variable Time-Delay," Proc. Workshop on Telerobotics, IEEE Intl. Conference on Robotics and Automation, Los Angeles, CA, May 19-23, 2008. Emmanuel Nu no, Luis Basa nez, Erick Rodr iguez-Seda and Mark W. Spong, “Bilateral Teleoperation Experiments: Scattering Transformation and Passive Output Synchronization Revisited,” pp. 12679-12702, Proc. IFAC World Congress, Seoul, Korea, July, 2008. Nikhil Chopra, D.M. Stipanovi c and M.W. Spong, “On Synchronization and Collision Avoidance for Mechanical Systems,” Proc. American Control Conference, pp. 3713-3718, Seattle, WA, June 11-13, 2008. R. Gregg and M.W. Spong, “Reduction-based Control with Application to Three-Dimensional Bipedal Walking Robots,” Proc. American Control Conference, pp. 880-887, Seattle, WA, June 11-13, 2008. Yuji Igarashi, Takeshi Hatanaka, Masayuki Fujita and M.W. Spong, “Passivity-based Output Synchronization in SE(3),” Proc. American Control Conference, 723-728, Seattle, WA, June 11-13, 2008. Kunal Srivastava and M.W. Spong, “Multi-Agenct Coordination under Connectivity Constraints,” Proc. American Control Conference, pp. 2648-2653, Seattle, WA, June 11-13, 2008. Peter F. Hokayem, D.M.Stipanovi c, and Mark W. Spong, “On Persistent Coverage Control,” IEEE Conf. on Decision and Control, New Orleans, LA, December, 2007. Silvia Mastellone, D.M. Stipanovi c, and Mark W. Spong, “Stability and Convergence for Systems with Switching Equilibria,” IEEE Conf. on Decision and Control, New Orleans, LA, December, 2007. Yuji Igarashi, Masayuki Fujita, and Mark W. Spong, “Passivity-based 3D Attitude Coordination: Convergence and Connectivity,” IEEE Conf. on Decision and Control, New Orleans, LA, December, 2007. Nikhil Chopra and Mark W. Spong, “Delay-Independent Stability of Interconnected Systems with Finite $L_2$-Gain,” IEEE Conf. on Decision and Control, 3847-3852, New Orleans, LA, December, 2007. Aaron D. Ames, Robert D. Gregg, and Mark W. Spong, “A Geometric Approach to Three-Dimensional Hipped Bipedal Robotic Walking,” IEEE Conf. on Decision and Control, New Orleans, LA, December, 2007. Silvia Mastellone, Mark W. Spong, and D.M. Stipanovic, “Multi-Agent Formation Control and Trajectory Tracking Via Singular Perturbation,” IEE Multiconference on Systems and Control, Singapore, October 1-3, 2007. Peter Hokayem, D.M. Stipanovic, Mark W.Spong, “Reliable Control of Multi-Agent Formations,” American Control Conference, New York, NY, July, 2007. Rogelio Lozano, Nikhil Chopra, Mark W. Spong, “Convergence Analysis of Bilateral Teleoperation with Constant Human Input,” American Control Conference, New York, 1443-1448, NY, July, 2007. Peter Hokayem, D.M. Stipanovic, and Mark W. Spong, “Dynamic Coverage Control with Limited Information, American Control Conference, New York, NY, July, 2007. Joohyung Kim, Chong-Ho Choi, and Mark W. Spong, “Passive Dynamic Walking with Symmetric Fixed Flat Feet,” Proc. ICCA'07, Guangzhou, China, May 30-June 1, 2007. Jonathan K. Holm, Dongjun Lee, and Mark W. Spong, “Time Scaling for Speed Regulation in Bipedal Locomotion, IEEE Int. Conf. on Robotics and Automation, Rome, Italy, April, 2007. Silvia Mastellone, D.M.Stipanovi c, and Mark W. Spong, Remote Formation Control and Collision Avoidance for Multi-Agent Nonholonomic Systems, IEEE Int. Conf. on Robotics and Automation, Rome, Italy, April, 2007. Peter Hokayem and Mark W. Spong, “Stability of Quantized and Delayed Bilateral Teleoperators,” IEEE Conference on Decision and Control, San Diego, CA, Dec 2006. Chopra, N., and Spong, M.W., “Output Synchronization of Nonlinear Systems with Time Delay in Communication,” IEEE Conference on Decision and Control, San Diego, CA, Dec 2006. Oscar Martinez-Palafox, Dongjun Lee, Mark W. Spong, Ivan Lopez, and Chaouki Abdallah, “Bilateral Teleoperation of Mobile Robots over Delayed Communication Network: Implementation, IROS 2006, Beijing, China, October, 2006. Erick Joel Rodriguez-Seda, Dongjun Lee, Mark W. Spong, “An Experimental Comparison of Bilateral Internet-Based Teleoperation,” IEEE Conference on Control Applications, pp. 1701-1706, Munich, Germany, October, 2006. Nikhil Chopra and Mark W. Spong, “Synchronization of Multiple Lagrangian Systems,” 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control (LHMNLC'06), Nagoya, Japan, July 19-21, 2006. Mark W. Spong, “Project-Based Control Education,” 7th IFAC Symposium on Advances in Control Education, Madrid, Spain, June, 21-23, 2006. Silvia Mastellone, Dongjun Lee, and Mark W. Spong, “Master-slave synchronization with switching communication through passive model-based control design,” In Proceeding of American Control Conference, Minneapolis, MN, Page(s):6 pp.3203-3208, June 14-16, 2006. D. J. Lee and M. W. Spong. “Stable flocking of inertial agents on balanced communication graphs. In Proceedings of the American Control Conference, Minneapolis, MN, June 14-16, 2006. Lee, D.J. and Spong, M.W., “Linear Agreement Protocol over Delayed Communication Networks,” In Proceedings of the American Control Conference, Minneapolis, MN, June 14-16, 2006 Hokayem, P.F., Stipanovi c, D., and Spong, M.W., “Suboptimal Master-Slave Teleoperation Control with Delays,” In Proceedings of the American Control Conference, Minneapolis, MN, June 14-16, 2006. Lopez-Hurtado*, I., Piovesan, J., Abdallah, C.T., Lee, D.J., Martinez-Palafox, O., Spong, M.W., Sandoval-Rodriguez, R., “Practical Issues in Networked Control Systems,” In Proceedings of the American Control Conference, Minneapolis, MN, June 14-16, 2006. Mark W. Spong, “Coordination of Multi-Agent Systems”, IASTED International Conference on Control and Applications, Montreal, Canada, May 24-26, 2006. D. J. Lee and M. W. Spong. Passive Bilateral Teleoperation with Constant Time-Delays. In Proceedings of IEEE International Conf. on Robotics & Automation, pp. 2902-2907, Orlando, FL. May, 2006. Dongjun Lee, Martinez-Palafox, O., and Spong, M.W., “Bilateral Teleoperation of a Wheeled Mobile Robot over a Delayed Communication Network,” IEEE Int. Conf. on Robotics and Automation, pp:3298-3303, Orlando, FL, May 15-19, 2006. Dongjun Lee, and Mark W. Spong, “Semi-Autonomous Teleoperation of Multiple Cooperative Robots for Human-Robot Lunar Exploration,” 2006 AAAI Spring Symposium, Palo Alto, CA., April, 2006. de Rinaldis, A., Astolfi, A., Ortega, R., and Spong, M.W., “A Switched-Resistors Implementation of Compensators for Wave Reflections in Transmission Lines”,IEEE Conference on Decision and Control, Seville, Spain, December 11-14, 2005. N. Chopra and M. W. Spong. On Synchronization of Kuramoto Oscillators. In Proceedings of the IEEE Conference on Decision and Control, pp. 3916-3922, Barcelona, Spain, December, 11-14, 2005. N. Chopra and M. W. Spong. On Synchronization of Networked Passive Systems with Time Delays. In Annual Conference of Society of Instrument and Control Engineers, Okyama, Japan, August, 2005. Dongjun Lee and M.W. Spong, “Bilateral Teleoperation of Multiple Cooperative Robots with Delayed Communication: Theory," IEEE International Conference on Robotics and Automation, pages 362--367, Barcelona, Spain, 2005. Dongjun Lee, Martinez-Palafox, O., and M.W. Spong, “Bilateral Teleoperation of Multiple Cooperative Robots with Delayed Communication: Application," IEEE International Conference on Robotics and Automation, pages 366-371, Barcelona, Spain, 2005. Dongjun Lee and M.W. Spong, “Passive Bilateral Control of Teleoperators under Constant Time-Delay," IFAC World Congress, Prague, July, 2005. Recent Magazine Articles Spong, M.W., “President's Message: The Rewards of Membership,” IEEE Control Systems Magazine, pp. 10-11, December, 2005. Spong, M.W., “President's Message: Think Globally, Act Locally,” IEEE Control Systems Magazine, pp. 10-12, October, 2005. Spong, M.W., “President's Message: Education, Instruction, and Motivation,” IEEE Control Systems Magazine, pp. 10-12, August, 2005. Spong, M.W., “President's Message: The Yin and the Yang of Control,” IEEE Control Systems Magazine, pp. 10-11, June, 2005. Spong, M.W., “President's Message: Relevancy and No-Shows,” IEEE Control Systems Magazine, pp. 8-11, April, 2005. Spong, M.W., “President's Message: Looking Back and Looking Forward,” IEEE Control Systems Magazine, pp. 7-9, February, 2005. Alleyne, A.G.; Block, D.J.; Meyn, S.P.; Perkins, W.R.; Spong, M.W.; “An interdisciplinary, interdepartmental control systems laboratory,” IEEE Control Systems Magazine, Volume: 25 , Issue: 1 , Feb. 2005 Pages:50 - 55. Book Reviews Mechanical Design of Robots, by E.E. Rivin, Applied Mechanics Reviews, 414:12, pp. 215, (1988). Fundamentals of Robot Technology: An Introduction to Industrial Robots, Teleoperators, and Robot Vehicles, by D.J. Todd, Applied Mechanics Reviews, 40:4, pp. 459, (1987). Robot Analysis and Control, by H. Asada and J.J.-E. Slotine, Applied Mechanics Reviews, 40:4, pp. 460, (1987). Robot Grippers, by D.T. Pham and W.B. Higinbotham, Applied Mechanics Reviews, 40:5, pp. 596--597, (1987). Applied Dynamics and CAD of Manipulation Robots, by M. Vukobratovich and V. Potkonjak, Applied Mechanics Reviews, 39:9, pp. 1379-1380, (1986). Reports Spong, M.W., “Control of Flexible Joint Robots: A Survey,” CSL Report, UILU-ENG-90-2203, University of Illinois, February, 1990. Albert, M. and Spong, M.W., “Linear and Nonlinear Controller Design for Elastic Joint Manipulators”, CSL Report, UILU-ENG-87-2251, University of Illinois, August 1987. Spong, M.W., “Some Issues in Robot Control,” General Electric Company, Control Technology Branch, August 1984. Spong, M.W., “Realization and Feedback Stabilization of Linear Neutral Systems,” D.Sc. Thesis, Department of Systems Science and Mathematics, Washington University, St. Louis, Mo. May 1981. Spong, M.W., “The Numerical Solution of Optimal Control Problems: An Introduction to the Strategies Model,” Report to the Decision Models Directorate, Rock Island Army Arsenal, Rock Island, Ill., August l979. Spong, M.W., “Notes on Multi-criterion Optimization and the Surrogate Worth Tradeoff Method,” Report to the Decision Models Directorate, Rock Island Army Arsenal, Rock Island, Ill., July l979.
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