**Graduate Chair and Professor**

Electrical Engineering and Computer Science

STKR 331

lawrencd@ohio.edu

**Phone:** 740.593.1572

Douglas A. Lawrence joined the Ohio University faculty in 1991. He teaches and researches systems and control theory with application to aerospace control systems.

Dr. Lawrence's research interests include linear and nonlinear control theory with aerospace applications. In 1992-93, Dr. Lawrence participated in the NASA-sponsored controller redesign study for the Hubble Space Telescope. In connection with his work on analytical gain scheduling, he participated in the AFOSR Summer Faculty Research Program in 1996 and 1997 and was awarded a Summer Research Extension Program grant following Summer 1996. In conjunction with his work on active flow control, he participated in the NRC Summer Faculty Fellowship Program in 2001 and 2004. He has also consulted for Austral Engineering & Software, Inc. on an Air Force sponsored Phase II SBIR contract involving wind tunnel testing and aerodynamic modeling for the X-45A UCAV developed by Boeing under the DARPA/Air Force UCAV Advanced Technology Demonstration program.

Associated with his work on nonlinear and hybrid control systems, he was the technical lead on a NASA contract under the Space Launch Initiative program responsible for the design of a supervisory flight manager for integrated guidance, navigation, and control for reusable launch vehicles. He is currently collaborating with Austral Engineering & Software, Inc. on an Air Force sponsored Phase II SBIR contract focusing on on-line trajectory generation and integrated guidance and control for hypersonic vehicles.

His current research focuses on nonlinear and hybrid systems theory with application to the design of complex hierarchical control systems for aerospace applications and on modeling of complex aerodynamic flow phenomena with application to the design of active flow control systems.

**Research Interests:** Electrical Engineering & Computer Science,
Linear and Nonlinear Systems and Control Theory,
Aerospace Control Systems

**All Degrees Earned:** Ph.D., Electrical Engineering, Johns Hopkins University, 1991. M.S., Electrical Engineering, Johns Hopkins University, 1988. B.S., Computer Engineering, Lehigh University, 1983.

- Lawrence, D. Empirical Model Reduction for Active Closed-Loop Flow Control. 2004 NRC Summer Faculty Fellowship Program, Control Theory Optimization Branch, Air Vehicles Directorate (AFRL/VACA), Wright-Patterson Air Force Base.
- Lawrence, D. Reduced Order Modeling for Active Flow Control. 2001 NRC Summer Faculty Fellowship Program, Control Theory Optimization Branch, Air Vehicles Directorate (AFRL/VACA), Wright-Patterson Air Force Base.
- Lawrence, D. On the Analysis and Design of Gain Scheduled Missile Autopilots. 1997 AFOSR Summer Faculty Research Program, Wright Laboratory, Eglin Air Force Base.
- Lawrence, D. Analysis and Design of Gain Scheduled Missile Autopilots. 1996 AFOSR Summer Faculty Research Program, Wright Laboratory, Eglin Air Force Base.
- Lawrence, D., Rugh, W. On the Input-State Pseudolinearization Problem for Nonlinear Systems. Baltimore, Maryland: Dept. Elect. Comp. Eng., Johns Hopkins University.

- Lawrence, D. Conditioned Invariant Subspaces for Linear Impulsive Systems. Proceedings of the 2015 American Control Conference; 4850 - 4855.
- Lawrence, D. Controlled Invariant Subspaces for Linear Impulsive Systems. Proceedings of the 2014 American Control Conference; 2348 – 2353.
- Lawrence, D. Lie-Algebraic Conditions for Stability of Linear Impulsive Systems. Proceedings of the 2013 American Control Conference; 3185-3190.
- Lawrence, D. On Output Feedback Stabilization for Linear Impulsive Systems. Proceedings of the 2012 American Control Conference.
- Lawrence, D. Stabilizability of Linear Impulsive Systems. San Francisco, CA: Proceedings of the 2011 American Control Conference; 4328 - 4333.
- Lawrence, D. Duality Properties of Linear Impulsive Systems. Atlanta, GA: Proceedings of the 49th IEEE Conference on Decision and Control; 6028 - 6033.
- Wu, M., Lawrence, D. Monotonicity and Bistability of Calcium/Calmodulin-Dependent Protein Kinase-Phosphatase Activation. Baltimore, MD: Proceedings of the 2010 American Control Conference; 5923 - 5928.
- Medina, E., Lawrence, D. Output Feedback Stabilization for Linear Impulsive Systems. Baltimore, MD: Proceedings of the 2010 American Control Conference; 4211 - 4216.
- Medina, E., Lawrence, D. Controlled and Conditioned Invariants for Linear Impulsive Systems. San Diego, California: Proceedings of the 45th IEEE Conference on Decision and Control; 2753 – 2758.
- Allwine, D., Fisher, J., Strahler, J., Wu, M., Rose, I., Guan, J., Lawrence, D. On-Line Identification for Space Access Vehicles. Keystone, Colorado: Proceedings of the 2006 AIAA Guidance, Navigation, and Control Conference.
- Liu, Y., Wu, M., Zhu, J., Lawrence, D., Gutmark, E., Myatt, J., May, C. Reactive Flow Control of Delta Wing Vortex. Keystone, Colorado: Proceedings of the 2006 AIAA Guidance, Navigation, and Control Conference.
- Allwine, D., Fisher, J., Strahler, J., Lawrence, D., Oppenheimer, M., Doman, D. On-Line Trajectory Generation for Hypersonic Vehicles. San Francisco, California: Proceedings of the 2005 AIAA Guidance, Navigation, and Control Conference.
- Lawrence, D., Myatt, J., Camphouse, R. On Model Reduction via Empirical Balanced Truncation. Portland, Oregon: Proceedings of the 2005 American Control Conference; 3139 – 3144.
- Judd, R., Drews, F., Lawrence, D., Juedes, D., Leal, W., Deshpande, J., Welch, L. QoS-Based Resource Allocation in Dynamic Real-Time Systems. Portland, OR: Proceedings of the 2005 American Control Conference; 1745 – 1751.
- Bukley, A., Lawrence, D., Clement, G. Generating Artificial Gravity Onboard the Space Shuttle. Graz, Austria: 15th IAA Humans in Space Symposium.
- Allwine, D., Straher, J., Lawrence, D., Jenkins, J., Myatt, J. Nonlinear Modeling of Unsteady Aerodynamics at High Angle of Attack. Providence, Rhode Island: Proceedings of the 2004 AIAA Atmospheric Flight Mechanics Conference.
- Lawrence, D., Sznaier, M. Nonlinear Regulator Synthesis using Linear Parameter-Varying Control. Boston, Massachusetts: Proceedings of the 2004 American Control Conference; 1356 – 1361.
- Fisher, J., Bevacqua, T., Lawrence, D., Zhu, J., Mahoney, M. Integrated G&C Implementation within IDOS – A Simulink Based Reusable Launch Vehicle Simulation. Austin, Texas: Proceedings of the 2003 AIAA Guidance, Navigation, and Control Conference.
- Fisher, J., Lawrence, D., Zhu, J. Autocommander – A Supervisory Controller for Integrated Guidance and Control for the 2nd Generation Reusable Launch Vehicle. Monterey, California: Proceedings of the 2002 AIAA Guidance, Navigation, and Control Conference.
- Zhu, J., Lawrence, D., Fisher, J., Shtessel, Y., Hodel, A., Lu, P. Direct Fault Tolerant RLV Attitude Control – A Singular Perturbation Approach. Monterey, California: Proceedings of the 2002 AIAA Guidance, Navigation, and Control Conference.
- Lawrence, D. Input-output Pseudolinearization on Controlled Invariant Submanifolds. Anchorage, Alaska: Proceedings of the 2002 American Control Conference; 555 – 560.
- Zhu, J., Lawrence, D., Fisher, J., Shtesssel, Y. Direct Fault-Tolerant RLV Attitude Control – A Simgular Perturbation Approach. Huntsville, Alabama: Proceedings of the 34th Southeastern Symposium on System Theory.
- Fisher, J., Lawrence, D., Zhu, J. Stateflow Autocoder. Huntsville, Alabama: Proceedings of the 34th Southeastern Symposium on System Theory.
- Lawrence, D. Pseudolinearization on Controlled Invariant Submanifolds. Orlando, Florida: Proceedings of the 40th IEEE Conference on Decision and Control; 3408 – 3413.
- Lawrence, D. Gain Scheduled Controllers with Guaranteed Linearization Properties. Arlington, Virginia: Proceedings of the 2001 American Control Conference; 4128-4133.
- Lawrence, D., Medina, E. Output Regulation for Linear Systems with Sampled Measurements. Arlington, Virginia: Proceedings of the 2001 American Control Conference; 2044-2049.
- Lawrence, D., Guan, J., Mehta, S., Welch, L. Adaptive Scheduling via Feedback Control for Dynamic Real-Time Systems. Phoenix, Arizona: Proceedings of the 2001 IEEE International Performance, Computing, and Communications Conference; 373-378.
- Lawrence, D., Guan, J., Mehta, S., Welch, L. Adaptive Scheduling via Feedback Control for Dynamic Real-Time Systems. 20th IEEE International Performance, Computing, And Communications Conference (IPCCC 2001).
- Zhou, Y., Welch, L., Huh, E., Alexander, C., Lawrence, D. Execution Time Analysis for Dynamic, Periodic Processes. The 9th Workshop on Parallel and Distributed Real-Time Systems.
- Ignatov, R., Lawrence, D. Gain Scheduling via Control Signal Interpolation: The Ball and Beam Example. Athens, Ohio: Proceedings of the 33rd Southeastern Symposium on System Theory; 419-423.
- Alexander, D., Lawrence, D., Welch, L. Feedback Control Resource Management using A Posteriori Workload Characterizations. Sydney, Australia: Proceedings of the 39th IEEE Conference on Decision and Control; 2222-2227.
- Welch, L., Lawrence, D., Alexander, D. Feedback Control Resource Management Using A Posteriori Workload Characterizations. The 39th IEEE Conference on Decision and Control.
- Gutmark, E., Zhu, J., Lawrence, D., Jacques, D. High Angle of Attack Flight Control of Delta Wing Aircraft using Vortex Actuators. Huntsville, Alabama: Army/NASA Workshop on Advances in Guidance, Navigation, and Control Technology.
- Lawrence, D. Approximate Model Matching for Nonlinear Systems. Phoenix, Arizona: Proceedings of the 38th IEEE Conference on Decision and Control; 720-725.
- Kelly, J., Evers, J., Korn, R., Lawrence, D. Scheduling Dynamic Compensators via Control Signal Interpolation. Portland, Oregon: AIAA Paper 99-3974, Proceedings of the 1999 AIAA Guidance, Navigation, and Control Conference.
- Stilwell, D., Lawrence, D. Sampled-Data Implementation of a Gain Scheduled Controller. Baltimore, Maryland: Proceedings of the 1999 Conference on Information Sciences and Systems, Johns Hopkins University.
- Lawrence, D. On Gain Scheduled Sampled-Data Control Systems. Tampa, Florida: Proceedings of the 37th IEEE Conference on Decision and Control; 4636-4637.
- Lawrence, D., Kelly, J., Evers, J. Gain Scheduled Missile Autopilot Design using a Control Signal Interpolation Technique. Boston, Massachusetts: Proceedings of the 1998 AIAA Guidance, Navigation, and Control Conference.
- Lawrence, D. A Stability Property of Nonlinear Sampled-Data Systems with Slowly Varying Inputs. Philadelphia, Pennsylvania: Proceedings of the 1998 American Control Conference; 2907-2911.
- Lawrence, D. Stability Analysis of Nonlinear Sampled-Data Systems. San Diego, California: Proceedings of the 36th IEEE Conference on Decision and Control; 365-366.
- Lawrence, D. A General Approach to Input-Output Pseudolinearization for Nonlinear Systems. New Orleans, Louisiana: Proceedings of the 34th IEEE Conference on Decision and Control; 613-618.
- Lawrence, D. On Constrained Dynamics and a Pseudo-Normal Form for Nonlinear Systems. Lake Buena Vista, Florida: Proceedings of the 33rd IEEE Conference on Decision and Control; 1264-1269.
- Irwin, R., Glenn, R., Frazier, W., Lawrence, D., Follett, R. Controller Redesigns for the Hubble Space Telescope. Athens, Ohio: Proceedings of the 26th Southeastern Symposium on System Theory; 347-351.
- Irwin, D., Glenn, R., Frazier, W., Lawrence, D., Follett, R. Controller Redesigns for the Hubble Space Telescope. Athens, OH: Proceedings of the 26th IEEE Southeastern Symposium on System Theory; 347-351.
- White, D., Wozniak, J., Lawrence, D. Missile Autopilot Design Using a Gain Scheduling Technique. Athens, Ohio: Proceedings of the 26th Southeastern Symposium on System Theory; 606-610.
- Lawrence, D., Rugh, W. Gain Scheduling Dynamic Linear Controllers for a Nonlinear Plant. San Antonio, Texas: Proceedings of the 32nd IEEE Conference on Decision and Control; 1024-1029.
- Lawrence, D. On a Pseudo-Normal Form for Nonlinear Systems. San Antonio, Texas: Proceedings of the 32nd IEEE Conference on Decision and Control; 8-13.
- Irwin, R., Glenn, R., Frazier, W., Lawrence, D. H-Infinity Design Specifications Applied to the Hubble Space Telescope. Advances in the Astronautical Sciences; 83.
- Irwin, D., Lawrence, D., Glenn, R. H Control Design Specifications Applied to the Hubble Space Telescope. Keystone, CO: 16th Annual American Astronautical Society Guidance and Control Conference.
- Lawrence, D. On a Nonlinear Observer with Pseudo-Linearized Error Dynamics. Tucson, Arizona: Proceedings of the 31st IEEE Conference on Decision and Control; 751-756.
- Lawrence, D., Rugh, W. Input-Output Pseudo-Linearization for Nonlinear Systems. Brighton, England: Proceedings of the 30th IEEE Conference on Decision and Control; 773-777.
- Lawrence, D., Rugh, W. Almost Perfect Tracking for Linear Systems. Boston, Massachusetts: Proceedings of the 1991 American Control Conference; 626-630.
- Lawrence, D., Rugh, W. An Alternate Proof of Kelemen’s Stability Theorem. Baltimore, Maryland: Proceedings of the 1989 Conference on Information Sciences and Systems, Johns Hopkins University.

- Williams II, R., Lawrence, D.
*Linear State-Space Control Systems.*John Wiley & Sons, Inc.

- Lawrence, D. Detectability of Linear Impulsive Systems. Dynamics of Continuous, Discrete & Impulsive Systems; 19: 431-452.
- Lawrence, D. Duality Properties of Linear Impulsive Systems.
*4.*Asian Journal of Control; 14: 901 - 910. http://www.ajc.org.tw. - Medina, E., Lawrence, D. Feedback-Reversibility and Reachability for Linear Impulsive Systems.
*6.*Automatica; 46: 1101 – 1106. - Medina, E., Lawrence, D. State Feedback Stabilization of Linear Impulsive Systems.
*6.*Automatica; 45: 1476 – 1480. - Liu, Y., Wu, M., Zhu, J., Lawrence, D., Gutmark, E., Myatt, H., May, C. Reactive Flow Control of Delta Wing Vortex.
*3.*AIAA Journal of Aircraft; 45: 880 – 892. - Medina, E., Lawrence, D. Reachability and Observability for Linear Impulsive Systems.
*5.*Automatica; 44: 1304 – 1309. - Bukley, A., Lawrence, D., Clement, G. Generating Artificial Gravity Onboard the Space Shuttle. ACTA Astronautica; 60: 472 – 478.
- Lawrence, D. Input-output Pseudolinearization on Controlled Invariant Submanifolds.
*1.*Automatica; 41: 163 – 166. - Stilwell, D., Lawrence, D. Sampled-Data Implementation of a Gain Scheduled Controller.
*9.*International Journal of Robust and Nonlinear Control; 12: 855 – 868. - Lawrence, D. Analysis and Design of Gain Scheduled Sampled-Data Control Systems.
*7.*Automatica; 37: 1041 – 1048. - Lawrence, D. A Stability Property of Nonlinear Sampled-Data Systems with Slowly Varying Inputs.
*3.*IEEE Transactions on Automatic Control; 45: 592-596. - Lawrence, D. A General Approach to Input-Output Pseudolinearization for Nonlinear Systems.
*10.*IEEE Transactions on Automatic Control; 43: 1497-1501. - Irwin, R., Glenn, R., Frazier, W., Lawrence, D., Follett, R. Analytically and Numerically Derived H-Infinity Controller Designs for the Hubble Space Telescope.
*2.*AIAA Journal of Guidance, Control, and Dynamics; 18: 214-221. - Irwin, D., Glenn, R., Frazier, W., Lawrence, D., Follett, R. Analytically and Numerically Derived H Controller Designs for the Hubble Space Telescope.
*2.*AIAA Journal of Guidance, Control, and Dynamics; 18: 214-221. - Lawrence, D., Rugh, W. Gain Scheduling Dynamic Linear Controllers for a Nonlinear Plant.
*3.*Automatica; 31: 381-390. - Lawrence, D., Rugh, W. Input-Output Pseudolinearization for Nonlinear Systems.
*11.*IEEE Transactions on Automatic Control; AC-39: 2207-2218. - Lawrence, D., Rugh, W. Almost Perfect Tracking for Linear Systems. Systems and Control Letters; 17: 281-289.
- Lawrence, D., Rugh, W. On a Stability Theorem for Nonlinear Systems with Slowly Varying Inputs.
*7.*IEEE Transactions on Automatic Control; AC-35: 860-864.