A Youla–Kučera parameterization approach to output feedback relatively optimal control

This paper presents a continuous time solution to the problem of designing a relatively optimal control, precisely, a dynamic control which is optimal with respect to a given initial condition and is stabilizing for any other initial state. This technique provides a drastic reduction of the complexi...

Full description

Saved in:

Bibliographic Details
Published in:	Systems & Control Letters Vol. 81; pp. 14 - 23
Main Authors:	Blanchini, Franco, Colaneri, Patrizio, Fujisaki, Yasumasa, Miani, Stefano, Pellegrino, Felice Andrea
Format:	Journal Article
Language:	English Japanese
Published:	Elsevier B.V 01.07.2015 Elsevier BV
Subjects:	AUT Continuous time systems Continuous time systems,Output feedback,Relatively optimal control,Youla–Kučera parameterization Continuous time systems; Output feedback; Relatively optimal control; Youla-Kučera parameterization; Control and Systems Engineering; Electrical and Electronic Engineering; Computer Science (all); Mechanical Engineering Output feedback Relatively optimal control Youla-Kucera parameterization Youla–Kučera parameterization Youla–Kučera parameterization Continuous time systems Relatively optimal control Output feedback
ISSN:	0167-6911, 1872-7956
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Abstract	This paper presents a continuous time solution to the problem of designing a relatively optimal control, precisely, a dynamic control which is optimal with respect to a given initial condition and is stabilizing for any other initial state. This technique provides a drastic reduction of the complexity of the controller and successfully applies to systems in which (constrained) optimality is necessary for some “nominal operation” only. The technique is combined with a pole assignment procedure. It is shown that once the closed-loop poles have been fixed and an optimal trajectory originating from the nominal initial state compatible with these poles is computed, a stabilizing compensator which drives the system along this trajectory can be derived in closed form. There is no restriction on the optimality criterion and the constraints. The optimization is carried out over a finite-dimensional parameterization of the trajectories. The technique has been presented for state feedback. We propose here a technique based on the Youla–Kučera parameterization which works for output feedback. The main result is that we provide conditions for solvability in terms of a set of linear algebraic equations.
AbstractList	This paper presents a continuous time solution to the problem of designing a relatively optimal control, precisely, a dynamic control which is optimal with respect to a given initial condition and is stabilizing for any other initial state. This technique provides a drastic reduction of the complexity of the controller and successfully applies to systems in which (constrained) optimality is necessary for some “nominal operation” only. The technique is combined with a pole assignment procedure. It is shown that once the closed-loop poles have been fixed and an optimal trajectory originating from the nominal initial state compatible with these poles is computed, a stabilizing compensator which drives the system along this trajectory can be derived in closed form. There is no restriction on the optimality criterion and the constraints. The optimization is carried out over a finite-dimensional parameterization of the trajectories. The technique has been presented for state feedback. We propose here a technique based on the Youla–Kučera parameterization which works for output feedback. The main result is that we provide conditions for solvability in terms of a set of linear algebraic equations.
Author	Pellegrino, Felice Andrea Fujisaki, Yasumasa Colaneri, Patrizio Blanchini, Franco Miani, Stefano
Author_xml	– sequence: 1 givenname: Franco surname: Blanchini fullname: Blanchini, Franco email: blanchini@uniud.it organization: Dipartimento di Matematica e Informatica, Università di Udine, 33100 Udine, Italy – sequence: 2 givenname: Patrizio surname: Colaneri fullname: Colaneri, Patrizio email: colaneri@elet.polimi.it organization: Dipartimento di Elettronica, Informazione e Bioingegneria and CNR-IEIIT, Politecnico di Milano, 20133 Milan, Italy – sequence: 3 givenname: Yasumasa surname: Fujisaki fullname: Fujisaki, Yasumasa email: fujisaki@ist.osaka-u.ac.jp organization: Department of Information and Physical Sciences, Osaka University, 1-5 Yamadaoka, Suita, Osaka 565-0871, Japan – sequence: 4 givenname: Stefano orcidid: 0000-0002-6402-8876 surname: Miani fullname: Miani, Stefano email: miani.stefano@uniud.it organization: Dipartimento di Ingegneria Elettrica Gestionale e Meccanica, Università di Udine, 33100 Udine, Italy – sequence: 5 givenname: Felice Andrea orcidid: 0000-0002-4423-1666 surname: Pellegrino fullname: Pellegrino, Felice Andrea email: fapellegrino@units.it organization: Dipartimento di Ingegneria e Architettura, Università di Trieste, 34127 Trieste, Italy
BackLink	https://cir.nii.ac.jp/crid/1870865118246970880$$DView record in CiNii
BookMark	eNqFkD1OAzEQhS0UJJLAFZAL2l3s_fGuJQqiiD8RiQaKVJbXOxYOm_XK60QKFReg4kqchJPgEGho0sxM8d7Mm2-EBq1tAaFTSmJKKDtfxP2mV7ZtIE4IzWOSxYSwAzSkZZFEBc_ZAA2DsIgYp_QIjfp-QQhJSJoO0XyC53bVyK-3j_vV5zs4iTvp5BI8OPMqvbEtll3nrFTP2FtsV75beawB6kqqF-ygCaI1NBtsO2-WssEhine2OUaHWjY9nPz2MXq6vnqc3kazh5u76WQWqSzPfVSwBBQUWZ0mhcoTnkBasYxrzijRVEvgGS8KUmmeasqYyrgqGUBe6rzkFS_TMbrY7VXO9r0DLZTxP8G9k6YRlIgtJrEQf5jEFpMgmQiYgp39s3cuvOE2-41nO2NrTDi5rQE4KVlOaZlkjIe5JEF2uZNBYLA24ESvDLQKauNAeVFbs-_SN8Y4loU
CitedBy_id	crossref_primary_10_1016_j_jprocont_2021_11_012 crossref_primary_10_1109_LCSYS_2023_3251575 crossref_primary_10_1007_s10957_021_01900_4 crossref_primary_10_3390_info10040120 crossref_primary_10_1016_j_ejcon_2023_100839 crossref_primary_10_1007_s11071_022_07790_z
Cites_doi	10.1109/TAC.2003.820070 10.1016/j.automatica.2007.04.010 10.1016/S0005-1098(01)00174-1 10.1109/TAC.1976.1101223 10.1016/0005-1098(89)90002-2 10.1109/TAC.2005.863493 10.1109/CDC.1987.272491 10.3166/ejc.7.87-99 10.1109/CDC.2006.377457 10.1109/TAC.1972.1099984
ContentType	Journal Article
Contributor	Fujisaki, Yasumasa Pellegrino, FELICE ANDREA Colaneri, Patrizio Blanchini, Franco Miani, Stefano
Contributor_xml	– sequence: 1 fullname: Blanchini, Franco – sequence: 2 fullname: Colaneri, Patrizio – sequence: 3 fullname: Fujisaki, Yasumasa – sequence: 4 fullname: Miani, Stefano – sequence: 5 fullname: Pellegrino, FELICE ANDREA
Copyright	2015 Elsevier B.V.
Copyright_xml	– notice: 2015 Elsevier B.V.
DBID	RYH AAYXX CITATION
DOI	10.1016/j.sysconle.2015.04.006
DatabaseName	CiNii Complete CrossRef
DatabaseTitle	CrossRef
DatabaseTitleList
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering
EISSN	1872-7956
EndPage	23
ExternalDocumentID	10_1016_j_sysconle_2015_04_006 S0167691115000845
GroupedDBID	--K --M -~X .DC .~1 0R~ 123 1B1 1RT 1~. 1~5 29Q 4.4 457 4G. 5VS 7-5 71M 8P~ 9JN 9JO AAAKF AAAKG AABNK AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AARIN AAXUO ABFNM ABJNI ABMAC ABTAH ABUCO ABXDB ABYKQ ACDAQ ACGFS ACNNM ACRLP ADBBV ADEZE ADIYS ADMUD ADTZH AEBSH AECPX AEKER AENEX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AIEXJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ APLSM ASPBG AVWKF AXJTR AZFZN BJAXD BKOJK BLXMC CS3 DU5 EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q GBLVA HAMUX HVGLF HZ~ IHE J1W JJJVA KOM LY1 LY7 M41 MO0 N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ SDF SDG SDP SDS SES SET SEW SPC SPCBC SSB SSD SST SSZ T5K TN5 WH7 WUQ XPP ZMT ZY4 ~G- AATTM AAXKI AAYWO ACLOT ACVFH ADCNI AEIPS AEUPX AFPUW AIIUN AKBMS AKRWK AKYEP ANKPU EFKBS RYH ~HD 9DU AAYXX ABWVN ACRPL ADNMO AFJKZ AGQPQ AIGII APXCP CITATION
ID	FETCH-LOGICAL-c455t-762ece74d327c5292e3b649f9610f1fae949770bf93f166c49c86ee58f589b983
ISICitedReferencesCount	9
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000357241500003&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	0167-6911
IngestDate	Sat Nov 29 05:30:29 EST 2025 Tue Nov 18 22:38:50 EST 2025 Mon Nov 10 09:09:21 EST 2025 Fri Feb 23 02:32:47 EST 2024
IsDoiOpenAccess	true
IsOpenAccess	true
IsPeerReviewed	true
IsScholarly	true
Keywords	Youla–Kučera parameterization Continuous time systems Relatively optimal control Output feedback
Language	English Japanese
LinkModel	OpenURL
MergedId	FETCHMERGED-LOGICAL-c455t-762ece74d327c5292e3b649f9610f1fae949770bf93f166c49c86ee58f589b983
ORCID	0000-0002-6402-8876 0000-0002-4423-1666 0000-0002-6465-0737 0000-0003-1529-1093 0000-0002-4109-5531
OpenAccessLink	https://cir.nii.ac.jp/crid/1870865118246970880
PageCount	10
ParticipantIDs	crossref_citationtrail_10_1016_j_sysconle_2015_04_006 crossref_primary_10_1016_j_sysconle_2015_04_006 nii_cinii_1870865118246970880 elsevier_sciencedirect_doi_10_1016_j_sysconle_2015_04_006
PublicationCentury	2000
PublicationDate	2015-07-01
PublicationDateYYYYMMDD	2015-07-01
PublicationDate_xml	– month: 07 year: 2015 text: 2015-07-01 day: 01
PublicationDecade	2010
PublicationTitle	Systems & Control Letters
PublicationYear	2015
Publisher	Elsevier B.V Elsevier BV
Publisher_xml	– name: Elsevier B.V – name: Elsevier BV
References	Garcia, Prett, Morari (br000015) 1989; 25 Kučera (br000050) 1991 Blanchini, Colaneri, Pellegrino (br000080) 2008; 44 M. Grant, S. Boyd, CVX: Matlab Software for Disciplined Convex Programming, 2014 Bemporad, Morari, Dua, Pistikopoulos (br000025) 2002; 38 Sage, White (br000005) 1977 . Grant, Boyd (br000090) 2008 Blanchini, Pellegrino (br000030) 2003; 48 M. Sznaier, M. Damborg, Suboptimal control of linear systems with state and control inequality constraints, in: Proceedings of the 26th Conference on Decision and Control, Los Angeles, CA, December 9–11, 1987, pp. 761–762. Blanchini, Pellegrino (br000035) 2006; 51 F. Blanchini, Y. Fujisaki, Relatively optimal control for continuous-time systems, in: Proceedings of the 45th Conference on Decision and Control, San Diego, CA, December 13–15, 2006, pp. 5645–5650. Mayne (br000020) 2001; 7 Boyd, Barratt (br000055) 1991 Youla, Jabr, Bongiorno (br000045) 1976; 21 Sánchez Peña, Sznaier (br000065) 1998 Zhou, Doyle, Glower (br000060) 1996 Wang, Desoer (br000070) 1972; 17 Bitsoris (br000075) 1991; 7 Youla (10.1016/j.sysconle.2015.04.006_br000045) 1976; 21 Grant (10.1016/j.sysconle.2015.04.006_br000090) 2008 Mayne (10.1016/j.sysconle.2015.04.006_br000020) 2001; 7 Boyd (10.1016/j.sysconle.2015.04.006_br000055) 1991 Bemporad (10.1016/j.sysconle.2015.04.006_br000025) 2002; 38 10.1016/j.sysconle.2015.04.006_br000085 10.1016/j.sysconle.2015.04.006_br000010 Zhou (10.1016/j.sysconle.2015.04.006_br000060) 1996 Sage (10.1016/j.sysconle.2015.04.006_br000005) 1977 Kučera (10.1016/j.sysconle.2015.04.006_br000050) 1991 10.1016/j.sysconle.2015.04.006_br000040 Blanchini (10.1016/j.sysconle.2015.04.006_br000035) 2006; 51 Garcia (10.1016/j.sysconle.2015.04.006_br000015) 1989; 25 Bitsoris (10.1016/j.sysconle.2015.04.006_br000075) 1991; 7 Sánchez Peña (10.1016/j.sysconle.2015.04.006_br000065) 1998 Blanchini (10.1016/j.sysconle.2015.04.006_br000080) 2008; 44 Blanchini (10.1016/j.sysconle.2015.04.006_br000030) 2003; 48 Wang (10.1016/j.sysconle.2015.04.006_br000070) 1972; 17
References_xml	– reference: M. Sznaier, M. Damborg, Suboptimal control of linear systems with state and control inequality constraints, in: Proceedings of the 26th Conference on Decision and Control, Los Angeles, CA, December 9–11, 1987, pp. 761–762. – volume: 51 start-page: 183 year: 2006 end-page: 191 ident: br000035 article-title: Relatively optimal control with characteristic polynomial assignment and output feedback publication-title: IEEE Trans. Automat. Control – reference: F. Blanchini, Y. Fujisaki, Relatively optimal control for continuous-time systems, in: Proceedings of the 45th Conference on Decision and Control, San Diego, CA, December 13–15, 2006, pp. 5645–5650. – volume: 17 start-page: 347 year: 1972 end-page: 349 ident: br000070 article-title: The exact model matching of linear multivariable systems publication-title: IEEE Trans. Automat. Control – reference: M. Grant, S. Boyd, CVX: Matlab Software for Disciplined Convex Programming, 2014, – volume: 7 start-page: 87 year: 2001 end-page: 99 ident: br000020 article-title: Control of constrained dynamic systems publication-title: Eur. J. Control – volume: 21 start-page: 319 year: 1976 end-page: 338 ident: br000045 article-title: Modern Wiener–Hopf design of optimal controllers, II. The multivariable case publication-title: IEEE Trans. Automat. Control – volume: 7 start-page: 407 year: 1991 end-page: 427 ident: br000075 article-title: Existence of positively invariant polyhedral sets for continuous-time linear systems publication-title: Control Theory Adv. Technol. – volume: 38 start-page: 3 year: 2002 end-page: 20 ident: br000025 article-title: The explicit linear quadratic regulator for constrained systems publication-title: Automatica – start-page: 95 year: 2008 end-page: 110 ident: br000090 article-title: Graph implementations for nonsmooth convex programs publication-title: Recent Advances in Learning and Control – year: 1996 ident: br000060 article-title: Robust and Optimal Control – reference: . – year: 1977 ident: br000005 article-title: Optimum System Control – year: 1991 ident: br000055 publication-title: Linear Controller Design—Limits of Performance – volume: 44 start-page: 1 year: 2008 end-page: 14 ident: br000080 article-title: Simultaneous performance achievement via compensator blending publication-title: Automatica – volume: 25 start-page: 335 year: 1989 end-page: 348 ident: br000015 article-title: Model predictive control theory and practice—a survey publication-title: Automatica – year: 1991 ident: br000050 publication-title: Analysis and Design of Discrete Linear Control Systems – volume: 48 start-page: 2151 year: 2003 end-page: 2162 ident: br000030 article-title: Relatively optimal control and its linear implementation publication-title: IEEE Trans. Automat. Control – year: 1998 ident: br000065 article-title: Robust Systems, Theory and Applications – year: 1977 ident: 10.1016/j.sysconle.2015.04.006_br000005 – volume: 48 start-page: 2151 issue: 12 year: 2003 ident: 10.1016/j.sysconle.2015.04.006_br000030 article-title: Relatively optimal control and its linear implementation publication-title: IEEE Trans. Automat. Control doi: 10.1109/TAC.2003.820070 – year: 1996 ident: 10.1016/j.sysconle.2015.04.006_br000060 – year: 1991 ident: 10.1016/j.sysconle.2015.04.006_br000050 – ident: 10.1016/j.sysconle.2015.04.006_br000085 – volume: 44 start-page: 1 issue: 1 year: 2008 ident: 10.1016/j.sysconle.2015.04.006_br000080 article-title: Simultaneous performance achievement via compensator blending publication-title: Automatica doi: 10.1016/j.automatica.2007.04.010 – start-page: 95 year: 2008 ident: 10.1016/j.sysconle.2015.04.006_br000090 article-title: Graph implementations for nonsmooth convex programs – volume: 38 start-page: 3 issue: 1 year: 2002 ident: 10.1016/j.sysconle.2015.04.006_br000025 article-title: The explicit linear quadratic regulator for constrained systems publication-title: Automatica doi: 10.1016/S0005-1098(01)00174-1 – volume: 21 start-page: 319 issue: 3 year: 1976 ident: 10.1016/j.sysconle.2015.04.006_br000045 article-title: Modern Wiener–Hopf design of optimal controllers, II. The multivariable case publication-title: IEEE Trans. Automat. Control doi: 10.1109/TAC.1976.1101223 – volume: 25 start-page: 335 issue: 3 year: 1989 ident: 10.1016/j.sysconle.2015.04.006_br000015 article-title: Model predictive control theory and practice—a survey publication-title: Automatica doi: 10.1016/0005-1098(89)90002-2 – volume: 51 start-page: 183 issue: 2 year: 2006 ident: 10.1016/j.sysconle.2015.04.006_br000035 article-title: Relatively optimal control with characteristic polynomial assignment and output feedback publication-title: IEEE Trans. Automat. Control doi: 10.1109/TAC.2005.863493 – ident: 10.1016/j.sysconle.2015.04.006_br000010 doi: 10.1109/CDC.1987.272491 – year: 1998 ident: 10.1016/j.sysconle.2015.04.006_br000065 – volume: 7 start-page: 87 issue: 2–3 year: 2001 ident: 10.1016/j.sysconle.2015.04.006_br000020 article-title: Control of constrained dynamic systems publication-title: Eur. J. Control doi: 10.3166/ejc.7.87-99 – ident: 10.1016/j.sysconle.2015.04.006_br000040 doi: 10.1109/CDC.2006.377457 – volume: 17 start-page: 347 issue: 3 year: 1972 ident: 10.1016/j.sysconle.2015.04.006_br000070 article-title: The exact model matching of linear multivariable systems publication-title: IEEE Trans. Automat. Control doi: 10.1109/TAC.1972.1099984 – volume: 7 start-page: 407 issue: 3 year: 1991 ident: 10.1016/j.sysconle.2015.04.006_br000075 article-title: Existence of positively invariant polyhedral sets for continuous-time linear systems publication-title: Control Theory Adv. Technol. – year: 1991 ident: 10.1016/j.sysconle.2015.04.006_br000055
SSID	ssj0002033 ssib006543831 ssib000947309
Score	2.2069178
Snippet	This paper presents a continuous time solution to the problem of designing a relatively optimal control, precisely, a dynamic control which is optimal with...
SourceID	crossref nii elsevier
SourceType	Enrichment Source Index Database Publisher
StartPage	14
SubjectTerms	AUT Continuous time systems Continuous time systems,Output feedback,Relatively optimal control,Youla–Kučera parameterization Continuous time systems; Output feedback; Relatively optimal control; Youla-Kučera parameterization; Control and Systems Engineering; Electrical and Electronic Engineering; Computer Science (all); Mechanical Engineering Output feedback Relatively optimal control Youla-Kucera parameterization Youla–Kučera parameterization
Title	A Youla–Kučera parameterization approach to output feedback relatively optimal control
URI	https://dx.doi.org/10.1016/j.sysconle.2015.04.006 https://cir.nii.ac.jp/crid/1870865118246970880
Volume	81
WOSCitedRecordID	wos000357241500003&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals 2021 customDbUrl: eissn: 1872-7956 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0002033 issn: 0167-6911 databaseCode: AIEXJ dateStart: 19950109 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwtV3NbtQwELaWlgMcEL-iQJEP3FaB_NiJfVxBK6Ci4lCk7SlyvI7IkiarTbJqOfECnHgC3oUn4UkY_yS7KoXSAxfLSmTLyXyZGTsz3yD0jIGKI8SPvEz6M48ISjzOgtyTOm0XxCxDOTPFJpLDQzad8vej0fc-F2ZVJlXFTk_54r-KGq6BsHXq7BXEPUwKF6APQocWxA7tPwl-MoYvuBR9FEN00BmH8ZVairEm-j7RATAu-3KgFNcuaN21i64d52DPMiE_uTSXlSrPxjUolhPDJGIC2zc9Wkd5biDUx72XJkdofQBfArQ-FqZ4lK3kUQ-_PmodbGuz3U21gM_FcG-_mxeNsGW1jwW8QtEMNuRdYWtR6Si1XFT15uFFQIdA1-E8E_R0zJ2-dQrZ1nBxGtWmmDrbbFOTf9P69gBi_rw5a-BBS81-GlDDYOtfQLN9zvwNQYl9vNs87edJ9TypT1JD6r4dJpSD4tyevNmbvh3MfehHUU8gr59kIw394hX9yQO6VhXFhm9zdBvdcpsSPLFguoNGqrqLbm5QVd5DxxNsYPXzy7eD7sdXABM-Dybcgwm3NbZgwj2Y8BpM2IEJO7TcRx_2945evvZcWQ5PEkpbD8ynkiohsyhMJA15qKIsJjzn4InnQS4UJ7Cp8LOcR3kQx5JwyWKlKMsp4xln0QO0VdWVeogwJ4kvKY8FldCdER5kahYzLkMuEqHEDqL9q0ql46zXpVPK9O_C2kEvhnELy9py6QjeSyJ1vqf1KVMA2aVjd0F0sEDdBmAAWWz27STm0Gf-oyuv5jG6sf5anqCtdtmpXXRdrtqiWT51CPwFRKm2JA
linkProvider	Elsevier
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=A+Youla%E2%80%93Ku%C4%8Dera+parameterization+approach+to+output+feedback+relatively+optimal+control&rft.jtitle=Systems+%26+control+letters&rft.au=Blanchini%2C+Franco&rft.au=Colaneri%2C+Patrizio&rft.au=Fujisaki%2C+Yasumasa&rft.au=Miani%2C+Stefano&rft.date=2015-07-01&rft.issn=0167-6911&rft.volume=81&rft.spage=14&rft.epage=23&rft_id=info:doi/10.1016%2Fj.sysconle.2015.04.006&rft.externalDBID=n%2Fa&rft.externalDocID=10_1016_j_sysconle_2015_04_006
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0167-6911&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0167-6911&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0167-6911&client=summon