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  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS DINÂMICOS, PROCESSOS DE MARKOV, PROCESSOS ESTOCÁSTICOS

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      COSTA, Eduardo Fontoura. Input-Output stochastic stability for Markov jump linear systems. IEEE Transactions on Automatic Control, v. 70, n. 1, p. 635-641, 2025Tradução . . Disponível em: https://doi.org/10.1109/TAC.2024.3446713. Acesso em: 09 nov. 2025.
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      Costa, E. F. (2025). Input-Output stochastic stability for Markov jump linear systems. IEEE Transactions on Automatic Control, 70( 1), 635-641. doi:10.1109/TAC.2024.3446713
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      Costa EF. Input-Output stochastic stability for Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2025 ; 70( 1): 635-641.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2024.3446713
    • Vancouver

      Costa EF. Input-Output stochastic stability for Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2025 ; 70( 1): 635-641.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2024.3446713
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, CADEIAS DE MARKOV, CONTROLE ÓTIMO

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      GUTIERREZ-PACHAS, Daniel e COSTA, Eduardo Fontoura e VARGAS, Alessandro do Nascimento. Linear quadratic control problem of systems with Markov jumps in reverse time and observation with anticipation of the jumps. IEEE Transactions on Automatic Control, v. 69, n. 4, p. 2469-2475, 2024Tradução . . Disponível em: https://doi.org/10.1109/TAC.2023.3312141. Acesso em: 09 nov. 2025.
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      Gutierrez-Pachas, D., Costa, E. F., & Vargas, A. do N. (2024). Linear quadratic control problem of systems with Markov jumps in reverse time and observation with anticipation of the jumps. IEEE Transactions on Automatic Control, 69( 4), 2469-2475. doi:10.1109/TAC.2023.3312141
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      Gutierrez-Pachas D, Costa EF, Vargas A do N. Linear quadratic control problem of systems with Markov jumps in reverse time and observation with anticipation of the jumps [Internet]. IEEE Transactions on Automatic Control. 2024 ; 69( 4): 2469-2475.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2023.3312141
    • Vancouver

      Gutierrez-Pachas D, Costa EF, Vargas A do N. Linear quadratic control problem of systems with Markov jumps in reverse time and observation with anticipation of the jumps [Internet]. IEEE Transactions on Automatic Control. 2024 ; 69( 4): 2469-2475.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2023.3312141
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: CADEIAS DE MARKOV, PROCESSOS ESTOCÁSTICOS, ALGORITMOS, FUNÇÕES CONVEXAS

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      MASSAMBONE, Rafael e COSTA, Eduardo Fontoura e HELOU, Elias Salomão. A Markovian incremental stochastic subgradient algorithm. IEEE Transactions on Automatic Control, v. 68, n. 1, p. 124-139, 2023Tradução . . Disponível em: https://doi.org/10.1109/TAC.2021.3137274. Acesso em: 09 nov. 2025.
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      Massambone, R., Costa, E. F., & Helou, E. S. (2023). A Markovian incremental stochastic subgradient algorithm. IEEE Transactions on Automatic Control, 68( 1), 124-139. doi:10.1109/TAC.2021.3137274
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      Massambone R, Costa EF, Helou ES. A Markovian incremental stochastic subgradient algorithm [Internet]. IEEE Transactions on Automatic Control. 2023 ; 68( 1): 124-139.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2021.3137274
    • Vancouver

      Massambone R, Costa EF, Helou ES. A Markovian incremental stochastic subgradient algorithm [Internet]. IEEE Transactions on Automatic Control. 2023 ; 68( 1): 124-139.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2021.3137274
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: PROCESSOS ESTOCÁSTICOS, CADEIAS DE MARKOV

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      DRAGAN, Vasile et al. Exact detectability of discrete-time and continuous-time linear stochastic systems: a unified approach. IEEE Transactions on Automatic Control, v. 67, n. 11, p. 5730-5745, 2022Tradução . . Disponível em: https://doi.org/10.1109/TAC.2021.3134633. Acesso em: 09 nov. 2025.
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      Dragan, V., Costa, E. F., Popa, I. -L., & Aberkane, S. (2022). Exact detectability of discrete-time and continuous-time linear stochastic systems: a unified approach. IEEE Transactions on Automatic Control, 67( 11), 5730-5745. doi:10.1109/TAC.2021.3134633
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      Dragan V, Costa EF, Popa I-L, Aberkane S. Exact detectability of discrete-time and continuous-time linear stochastic systems: a unified approach [Internet]. IEEE Transactions on Automatic Control. 2022 ; 67( 11): 5730-5745.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2021.3134633
    • Vancouver

      Dragan V, Costa EF, Popa I-L, Aberkane S. Exact detectability of discrete-time and continuous-time linear stochastic systems: a unified approach [Internet]. IEEE Transactions on Automatic Control. 2022 ; 67( 11): 5730-5745.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2021.3134633
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, CADEIAS DE MARKOV, PROGRAMAÇÃO DINÂMICA, PROCESSOS ESTOCÁSTICOS

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      NARVÁEZ, Alfredo Rafael Roa e COSTA, Eduardo Fontoura. Control of continuous-time linear systems with Markov jump parameters in reverse time. IEEE Transactions on Automatic Control, v. 65, n. 5, p. 2265 - 2271, 2020Tradução . . Disponível em: https://doi.org/10.1109/TAC.2019.2944919. Acesso em: 09 nov. 2025.
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      Narváez, A. R. R., & Costa, E. F. (2020). Control of continuous-time linear systems with Markov jump parameters in reverse time. IEEE Transactions on Automatic Control, 65( 5), 2265 - 2271. doi:10.1109/TAC.2019.2944919
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      Narváez ARR, Costa EF. Control of continuous-time linear systems with Markov jump parameters in reverse time [Internet]. IEEE Transactions on Automatic Control. 2020 ; 65( 5): 2265 - 2271.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2019.2944919
    • Vancouver

      Narváez ARR, Costa EF. Control of continuous-time linear systems with Markov jump parameters in reverse time [Internet]. IEEE Transactions on Automatic Control. 2020 ; 65( 5): 2265 - 2271.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2019.2944919
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS NÃO LINEARES, PROCESSOS ESTOCÁSTICOS, PROCESSOS ALEATÓRIOS, SISTEMAS DE TEMPO-REAL

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      VARGAS, Alessandro N. et al. Switching stochastic nonlinear systems with application to an automotive throttle. IEEE Transactions on Automatic Control, v. 63, n. 9, p. 3098-3104, 2018Tradução . . Disponível em: https://doi.org/10.1109/TAC.2017.2782081. Acesso em: 09 nov. 2025.
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      Vargas, A. N., Costa, E. F., Acho, L., & Val, J. B. R. do. (2018). Switching stochastic nonlinear systems with application to an automotive throttle. IEEE Transactions on Automatic Control, 63( 9), 3098-3104. doi:10.1109/TAC.2017.2782081
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      Vargas AN, Costa EF, Acho L, Val JBR do. Switching stochastic nonlinear systems with application to an automotive throttle [Internet]. IEEE Transactions on Automatic Control. 2018 ; 63( 9): 3098-3104.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2017.2782081
    • Vancouver

      Vargas AN, Costa EF, Acho L, Val JBR do. Switching stochastic nonlinear systems with application to an automotive throttle [Internet]. IEEE Transactions on Automatic Control. 2018 ; 63( 9): 3098-3104.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2017.2782081
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, PROCESSOS DE MARKOV, PROCESSOS ESTOCÁSTICOS, CONTROLE ÓTIMO, FILTRAÇÃO

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      GUTIERREZ-PACHAS, Daniel A. e COSTA, Eduardo Fontoura. On the linear quadratic problem for systems with time reversed Markov jump parameters and the duality with filtering of Markov jump linear systems. IEEE Transactions on Automatic Control, v. 63, n. 9, p. 3040-3045, 2018Tradução . . Disponível em: https://doi.org/10.1109/TAC.2018.2799524. Acesso em: 09 nov. 2025.
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      Gutierrez-Pachas, D. A., & Costa, E. F. (2018). On the linear quadratic problem for systems with time reversed Markov jump parameters and the duality with filtering of Markov jump linear systems. IEEE Transactions on Automatic Control, 63( 9), 3040-3045. doi:10.1109/TAC.2018.2799524
    • NLM

      Gutierrez-Pachas DA, Costa EF. On the linear quadratic problem for systems with time reversed Markov jump parameters and the duality with filtering of Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2018 ; 63( 9): 3040-3045.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2018.2799524
    • Vancouver

      Gutierrez-Pachas DA, Costa EF. On the linear quadratic problem for systems with time reversed Markov jump parameters and the duality with filtering of Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2018 ; 63( 9): 3040-3045.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2018.2799524
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, PROCESSOS DE MARKOV, PROCESSOS ESTOCÁSTICOS, PROCESSOS ALEATÓRIOS

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      COSTA, Eduardo Fontoura e SAPORTA, Benoîte de. Linear minimum mean square filters for Markov jump linear systems. IEEE Transactions on Automatic Control, v. 62, n. 7, p. 3567-3572, 2017Tradução . . Disponível em: https://doi.org/10.1109/TAC.2017.2692180. Acesso em: 09 nov. 2025.
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      Costa, E. F., & Saporta, B. de. (2017). Linear minimum mean square filters for Markov jump linear systems. IEEE Transactions on Automatic Control, 62( 7), 3567-3572. doi:10.1109/TAC.2017.2692180
    • NLM

      Costa EF, Saporta B de. Linear minimum mean square filters for Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2017 ; 62( 7): 3567-3572.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2017.2692180
    • Vancouver

      Costa EF, Saporta B de. Linear minimum mean square filters for Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2017 ; 62( 7): 3567-3572.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2017.2692180
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, PROCESSOS DE MARKOV, PROCESSOS ESTOCÁSTICOS, FILTROS DE KALMAN

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      SAPORTA, Benoîte de e COSTA, Eduardo Fontoura. Approximate Kalman-Bucy filter for continuous-time semi-Markov jump linear systems. IEEE Transactions on Automatic Control, v. 61, n. 8, p. 2035-2048, 2016Tradução . . Disponível em: https://doi.org/10.1109/TAC.2015.2495578. Acesso em: 09 nov. 2025.
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      Saporta, B. de, & Costa, E. F. (2016). Approximate Kalman-Bucy filter for continuous-time semi-Markov jump linear systems. IEEE Transactions on Automatic Control, 61( 8), 2035-2048. doi:10.1109/TAC.2015.2495578
    • NLM

      Saporta B de, Costa EF. Approximate Kalman-Bucy filter for continuous-time semi-Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2016 ; 61( 8): 2035-2048.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2015.2495578
    • Vancouver

      Saporta B de, Costa EF. Approximate Kalman-Bucy filter for continuous-time semi-Markov jump linear systems [Internet]. IEEE Transactions on Automatic Control. 2016 ; 61( 8): 2035-2048.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2015.2495578
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: SISTEMAS LINEARES, PROCESSOS DE MARKOV, PROCESSOS ESTOCÁSTICOS

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      DRAGAN, Vasile e COSTA, Eduardo Fontoura. Optimal stationary dynamic output-feedback controllers for discrete-time linear systems with markovian jumping parameters and additive white noise perturbations. IEEE Transactions on Automatic Control, v. 61, n. 12, p. 3912-3924, 2016Tradução . . Disponível em: https://doi.org/10.1109/TAC.2016.2529505. Acesso em: 09 nov. 2025.
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      Dragan, V., & Costa, E. F. (2016). Optimal stationary dynamic output-feedback controllers for discrete-time linear systems with markovian jumping parameters and additive white noise perturbations. IEEE Transactions on Automatic Control, 61( 12), 3912-3924. doi:10.1109/TAC.2016.2529505
    • NLM

      Dragan V, Costa EF. Optimal stationary dynamic output-feedback controllers for discrete-time linear systems with markovian jumping parameters and additive white noise perturbations [Internet]. IEEE Transactions on Automatic Control. 2016 ; 61( 12): 3912-3924.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2016.2529505
    • Vancouver

      Dragan V, Costa EF. Optimal stationary dynamic output-feedback controllers for discrete-time linear systems with markovian jumping parameters and additive white noise perturbations [Internet]. IEEE Transactions on Automatic Control. 2016 ; 61( 12): 3912-3924.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2016.2529505
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assunto: INTELIGÊNCIA ARTIFICIAL

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      MACHADO, J. B e CAMPELLO, Ricardo José Gabrielli Barreto e AMARAL, W. C. Asymmetric Volterra models based on ladder-structured generalized orthonormal basis functions. IEEE Transactions on Automatic Control, v. No 2015, n. 11, p. 2879-2891, 2015Tradução . . Disponível em: https://doi.org/10.1109/TAC.2015.2423912. Acesso em: 09 nov. 2025.
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      Machado, J. B., Campello, R. J. G. B., & Amaral, W. C. (2015). Asymmetric Volterra models based on ladder-structured generalized orthonormal basis functions. IEEE Transactions on Automatic Control, No 2015( 11), 2879-2891. doi:10.1109/TAC.2015.2423912
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      Machado JB, Campello RJGB, Amaral WC. Asymmetric Volterra models based on ladder-structured generalized orthonormal basis functions [Internet]. IEEE Transactions on Automatic Control. 2015 ; No 2015( 11): 2879-2891.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2015.2423912
    • Vancouver

      Machado JB, Campello RJGB, Amaral WC. Asymmetric Volterra models based on ladder-structured generalized orthonormal basis functions [Internet]. IEEE Transactions on Automatic Control. 2015 ; No 2015( 11): 2879-2891.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2015.2423912
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assunto: PROCESSOS ESTOCÁSTICOS

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      BARBOSA, B. G e COSTA, Eduardo Fontoura. Lagrange asymptotic stability of weak detectable Markov jump linear systems with bounded long run average cost. IEEE Transactions on Automatic Control, v. 58, n. 5, p. 1280-1283, 2013Tradução . . Disponível em: https://doi.org/10.1109/TAC.2012.2223356. Acesso em: 09 nov. 2025.
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      Barbosa, B. G., & Costa, E. F. (2013). Lagrange asymptotic stability of weak detectable Markov jump linear systems with bounded long run average cost. IEEE Transactions on Automatic Control, 58( 5), 1280-1283. doi:10.1109/TAC.2012.2223356
    • NLM

      Barbosa BG, Costa EF. Lagrange asymptotic stability of weak detectable Markov jump linear systems with bounded long run average cost [Internet]. IEEE Transactions on Automatic Control. 2013 ; 58( 5): 1280-1283.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2012.2223356
    • Vancouver

      Barbosa BG, Costa EF. Lagrange asymptotic stability of weak detectable Markov jump linear systems with bounded long run average cost [Internet]. IEEE Transactions on Automatic Control. 2013 ; 58( 5): 1280-1283.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2012.2223356
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assunto: INTELIGÊNCIA ARTIFICIAL

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      ROSA, Alex da e CAMPELLO, Ricardo José Gabrielli Barreto e AMARAL, Wagner C. Exact search directions for optimization of linear and nonlinear models based on generalized orthonormal functions. IEEE Transactions on Automatic Control, v. 54, n. 12, p. 2757-2772, 2009Tradução . . Disponível em: https://doi.org/10.1109/TAC.2009.2031721. Acesso em: 09 nov. 2025.
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      Rosa, A. da, Campello, R. J. G. B., & Amaral, W. C. (2009). Exact search directions for optimization of linear and nonlinear models based on generalized orthonormal functions. IEEE Transactions on Automatic Control, 54( 12), 2757-2772. doi:10.1109/TAC.2009.2031721
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      Rosa A da, Campello RJGB, Amaral WC. Exact search directions for optimization of linear and nonlinear models based on generalized orthonormal functions [Internet]. IEEE Transactions on Automatic Control. 2009 ; 54( 12): 2757-2772.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2009.2031721
    • Vancouver

      Rosa A da, Campello RJGB, Amaral WC. Exact search directions for optimization of linear and nonlinear models based on generalized orthonormal functions [Internet]. IEEE Transactions on Automatic Control. 2009 ; 54( 12): 2757-2772.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/TAC.2009.2031721
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assunto: PROCESSOS ESTOCÁSTICOS

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      COSTA, Eduardo Fontoura e VAL, João Bosco Ribeiro do. Uniform approximation of infinite horizon control problems for nonlinear systems and stability of the approximating controls. IEEE Transactions on Automatic Control, v. 47, n. 4, p. 881-886, 2009Tradução . . Acesso em: 09 nov. 2025.
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      Costa, E. F., & Val, J. B. R. do. (2009). Uniform approximation of infinite horizon control problems for nonlinear systems and stability of the approximating controls. IEEE Transactions on Automatic Control, 47( 4), 881-886.
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      Costa EF, Val JBR do. Uniform approximation of infinite horizon control problems for nonlinear systems and stability of the approximating controls. IEEE Transactions on Automatic Control. 2009 ;47( 4): 881-886.[citado 2025 nov. 09 ]
    • Vancouver

      Costa EF, Val JBR do. Uniform approximation of infinite horizon control problems for nonlinear systems and stability of the approximating controls. IEEE Transactions on Automatic Control. 2009 ;47( 4): 881-886.[citado 2025 nov. 09 ]
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assuntos: REGRESSÃO LINEAR, PROCESSOS ESTOCÁSTICOS, ANÁLISE DE SÉRIES TEMPORAIS

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      VAL, João Bosco Ribeiro do e COSTA, Eduardo Fontoura. Stabilizability and positiveness of the jump linear quadratic problem and the coupled algebraic Ricatti equation. IEEE Transactions on Automatic Control, v. 50, n. 5, p. 691-695, 2005Tradução . . Disponível em: http://ieeexplore.ieee.org/iel5/9/30864/01431052.pdf?isnumber=30864&prod=JNL&arnumber=1431052&arSt=+691&ared=+695&arAuthor=Val%2C+J.B.Rd.%3B+Costa%2C+E.F. Acesso em: 09 nov. 2025.
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      Val, J. B. R. do, & Costa, E. F. (2005). Stabilizability and positiveness of the jump linear quadratic problem and the coupled algebraic Ricatti equation. IEEE Transactions on Automatic Control, 50( 5), 691-695. Recuperado de http://ieeexplore.ieee.org/iel5/9/30864/01431052.pdf?isnumber=30864&prod=JNL&arnumber=1431052&arSt=+691&ared=+695&arAuthor=Val%2C+J.B.Rd.%3B+Costa%2C+E.F.
    • NLM

      Val JBR do, Costa EF. Stabilizability and positiveness of the jump linear quadratic problem and the coupled algebraic Ricatti equation [Internet]. IEEE Transactions on Automatic Control. 2005 ; 50( 5): 691-695.[citado 2025 nov. 09 ] Available from: http://ieeexplore.ieee.org/iel5/9/30864/01431052.pdf?isnumber=30864&prod=JNL&arnumber=1431052&arSt=+691&ared=+695&arAuthor=Val%2C+J.B.Rd.%3B+Costa%2C+E.F.
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      Val JBR do, Costa EF. Stabilizability and positiveness of the jump linear quadratic problem and the coupled algebraic Ricatti equation [Internet]. IEEE Transactions on Automatic Control. 2005 ; 50( 5): 691-695.[citado 2025 nov. 09 ] Available from: http://ieeexplore.ieee.org/iel5/9/30864/01431052.pdf?isnumber=30864&prod=JNL&arnumber=1431052&arSt=+691&ared=+695&arAuthor=Val%2C+J.B.Rd.%3B+Costa%2C+E.F.
  • Fonte: IEEE Transactions on Automatic Control. Unidade: ICMC

    Assunto: CONTROLE DE PROCESSOS

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      VAL, João Bosco Ribeiro do e COSTA, Eduardo Fontoura. Stabilizability and positiviness of solutions of the jump linear quadratic problem and the coupled algebraic riccati equation. IEEE Transactions on Automatic Control, v. 50, n. 5, p. 691-695, 2005Tradução . . Disponível em: https://doi.org/10.1109/tac.2005.846600. Acesso em: 09 nov. 2025.
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      Val, J. B. R. do, & Costa, E. F. (2005). Stabilizability and positiviness of solutions of the jump linear quadratic problem and the coupled algebraic riccati equation. IEEE Transactions on Automatic Control, 50( 5), 691-695. doi:10.1109/tac.2005.846600
    • NLM

      Val JBR do, Costa EF. Stabilizability and positiviness of solutions of the jump linear quadratic problem and the coupled algebraic riccati equation [Internet]. IEEE Transactions on Automatic Control. 2005 ; 50( 5): 691-695.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/tac.2005.846600
    • Vancouver

      Val JBR do, Costa EF. Stabilizability and positiviness of solutions of the jump linear quadratic problem and the coupled algebraic riccati equation [Internet]. IEEE Transactions on Automatic Control. 2005 ; 50( 5): 691-695.[citado 2025 nov. 09 ] Available from: https://doi.org/10.1109/tac.2005.846600

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