Torsten Söderström, Division of Systems and Control, Uppsala University

Torsten Söderström's home page

#Background
#Research_interests
#Teaching
#Research_projects
#Other_professional_activities
#Ordering_of_the_book_System_Identification
#Some_recent_publications


Background I have a M Sc in engineering physics (Civilingenjör teknisk fysik), 1969, and a PhD in automatic control (Tekn Dr i reglerteknik), 1973, both from Lund Institute of Technology. I moved to Uppsala University in 1974, where I was a professor of automatic control until fall 2011, when I became professor emeritus. I was the head of the Department of Systems and Control 1975-1999. I am an IEEE Life Fellow and an IFAC Fellow. Short CV Research interests My main research interests are in the fields of system identification, statistical signal processing, identification of continuous-time models, error-in-variables problems, parameter estimation in infinite-dimensional systems, numerical algorithms in control and signal processing, adaptive filtering, and modelling and control of mechanical systems.

Teaching

Undergraduate teaching

Fall 2010:
Automatic control II
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Automatic control III
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Fall 2009:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Fall 2008:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Fall 2007:
Automatic control (EI3, ES3, W3)
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Fall 2006:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Fall 2005:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Spring 2005:
System identification (F4, STS4)
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Fall 2004:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Fall 2003:
Control design (F4, IT4)
Computer-controlled systems (W4, STS4)
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Fall 2002:
Control design (F4, IT4)
Computer-controlled systems (W4)
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Spring 2002:
Adaptive systems (F4)
Fall 2001:
Control design (F4, IT4)
Computer-controlled systems (W4)
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Spring 2001:
Adaptive systems (F4)
Fall 2000:
Sampled-data control systems (F4)
Computer-controlled systems (W4)
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Teaching in the PhD programs

Spring 2011:
Linear systems, 12 hp units
Spring 2009:
Stochastic dynamic systems, 10 units
Spring 2007:
Linear systems, 8 units
Spring 2005:
Recursive identification, 7 units
Spring 2003:
Stochastic dynamic systems, 10 units
Fall 2001:
Stochastic dynamic systems, 10 units
Spring 2001:
Recursive identification, 7 units
Fall 1999:
Stochastic dynamic systems, 10 units

Research projects

* Identification of continuous-time systems
(part of the multiproject Statistical signal processing)

* Errors-in-variables modelling

* Identification of nonlinear systems
(part of the multiproject Statistical signal processing)

* Identification of viscoelastic materials
(a previous progress report for this project)

* Parameter estimation in heat conduction and diffusion
(a previous progress report for this project)

* Control of waves, vibrations and stability in mechanical structures

* Numerical algorithms in systems and control

PhD students currently working in these projects:
Hans Norlander, Agnes Rensfelt.

Recently graduated PhD's engaged in these projects:
Emad Abd-ElRady, Bharath Bhikkaji, Erik K. Larsson, Kaushik Mahata, Mei Hong Bjerstedt, Peter Nauclér.

Some other professional activities

Editor of Automatica, subject area System Parameter Estimation, 1992-present.

Within IFAC, International Federation of Automatic Control,
I was a Council member 1996-2002,
Executive Board member 1999-2002,
and Chair of the Awards Committee 1999-2002.

Within EUCA, European Union Control Association,
I was a Council member, 2001-2007.

The book 'System identification'

The textbook T. Söderström and P. Stoica: System Identification,
originally published by Prentice Hall International, is out of print.
It can, however, be freely downloaded:

Some recent publications

Full publication list

Books and book chapters


T. Söderström: How accurate can instrumental variable models become? In L. Wang and H. Garnier, eds: System Identification, Environmental Modelling and Control, Springer-Verlag, 2012. T. Söderström: Linear stochastic input-output models. Chapter 60 In W. Levine, ed.: The Control Handbook, Control System Advance Methods, 2nd ed,Taylor and Francis, UK, 2011. E. K. Larsson, M. Mossberg and T. Söderström: Estimation of Continuous-time Stochastic System Parameters. In H. Garnier and L. Wang, eds.: Identification of Continuous-time Models from Sampled Data. Springer-Verlag, 2008. T. Söderström: Identifying characteristics of viscoelastic materials from wave propagation experiments -- recent advances. In T. Glad and G. Hendeby, eds.: Forever Ljung in System Identification, Studentlitteratur, Lund, 2006. T. Söderström: Identification of linear systems in time domain. Encyclopedia of Life Support Systems (EOLSS), developed under the auspices of Unesco, EOLSS publishers, Oxford, UK, 2003. [http://www.eolss.net] T. Söderström: Prediction error methods. Encyclopedia of Life Support Systems (EOLSS), developed under the auspices of Unesco, EOLSS publishers, Oxford, UK, 2003. [http://www.eolss.net] T. Söderström: Discrete-Time Stochastic Systems - Estimation and Control. Second edition, Springer-Verlag, London, UK, 2002. (375 pp)

Journal papers

T. Söderström: A generalized instrumental variable method for multivariable errors-in-variables identification problems. International Journal of Control, no 3, pp 287-303, March 2012.

T. Söderström and A. Rensfelt: Estimation of material functions using system identification techniques. Control Engineering Practice, to appear 2012.

T. Söderström: System identification for the errors-in-variables problem. Transactions of the Institute of Measurement and Control, accepted for publication, 2011.

M. Mossberg and T. Söderström: Covariance matching for continuous-time errors-in-variables problems. IEEE Transactions on Automatic Control, vol 56, no 6, pp 1478-1483, August 2011.

H. Hjalmarsson, J. Mårtensson, C. Rojas and T. Söderström: On the accuracy in errors-in-variables identification compared to predition-error identification. Automatica, vol 47, no 12, pp 2704-2712, December 2011.

T. Söderström: A generalized instrumental variable method for errors-in-variables identification problems. Automatica, vol 47, no 8, pp 1656-1666, August 2011.

M. Mossberg and T. Söderström: Approximative weighting for covariance matching approach for identifying errors-in-variables systems. International Journal of Adaptive Control and Signal Processing, vol 25, no 6, pp 535-543, June 2011.

K. van Heusden, A. Karimi and T. Söderström: On identification methods for direct data-driven controller . International Journal of Adaptive Control and Signal Processing. vol 25, no 5, pp 448-465, May 2011.

A. Rensfelt and T. Söderström: Parametric identification of complex modulus. Automatica, vol 47, no 4, pp 813-818, April 2011.

T. Söderström and M. Mossberg: Accuracy analysis of a covariance matching approach for identifying errors-in-variables systems. Automatica, vol 47, no 2, pp 272-282, February 2011.

A. Rensfelt and T. Söderström: Optimal excitation for nonparametric identification of viscoelastic materials. IEEE Transactions on Control Systems Technology, vol 19, no 1, pp 238-244, January 2011.

P. Nauclér and T. Söderström: Unbalance estimation using linear and nonlinear regression. Automatica, vol 46, no 11, pp 1752-1761, November 2010.

A. Rensfelt and T. Söderström: Structure testing of wave propagation models used in identification of viscoelastic materials. Automatica, vol 46, no 4, pp 728-734, April 2010.

T. Söderström, M. Hong, J. Schoukens and R. Pintelon: Accuracy Analysis of Time-domain Maximum Likelihood Method and Sample Maximum Likelihood Method for Errors-in-Variables and Output Error Identification. Automatica, vol 46, no 4, pp 721-727, April 2010.

T. Söderström, M. Mossberg and M. Hong: A covariance matching approach for identifying errors-in-variables systems. Automatica, vol 45, no 9, pp 2018-2031, September 2009.

P. Nauclér and T. Söderström: Separation of waves governed by the one-dimensional wave equations - a stochastic systems approach. Mechanical Systems and Signal Processing, vol 23, pp 823-844, April 2009.

M. Hong and T. Söderström: Relations between bias-eliminating least squares, the Frisch scheme and extended compensated least squares methods for identifying errors-in-variables systems. Automatica, vol 45, pp 277-282, January 2009.

T. Söderström: Extending the Frisch scheme for errors-in-variables identification to correlated output noise. International Journal of Adaptive Control and Signal Processing, vol 22, no 1, pp 55-73, February 2008.

A. Rensfelt, S. Mousavi, M. Mossberg and T. Söderström: Optimal sensor locations for nonparametric identification of viscoelastic materials, Automatica, vol 44, no 1, pp 28-38, January 2008.

M. Hong, T. Söderström and W. X. Zheng: A simplified form of the bias-eliminating least squares method for errors-in-variables identification. IEEE Transactions on Automatic Control, vol 52, no 9, pp 1754-1756, September 2007.

M. Hong, T. Söderström and W. X. Zheng: Accuracy analysis of bias-eliminating least squares estimates for errors-in-variables systems. Automatica, vol 43, no 9, pp 1590-1596, September 2007.

K. Mahata and T. Söderström: Bayesian approaches for identification of the complex modulus of viscoelastic materials. Automatica, vol 43, no 8, pp 1369-1376, August 2007.

P. Nauclér, B. Lundberg and T. Söderström: A mechanical wave diode: using feedforward control for one-way transmission of elastic extensional waves. IEEE Transactions on Control Systems Technology, vol 15, no 4, pp 715-724, July 2007.

T. Söderström; Errors-in-variables methods in system identification. Automatica, survey paper, vol 43, no 6, pp 939-958, June 2007.

T. Söderström: Accuracy analysis of the Frisch estimates for identifying errors-in-variables systems. IEEE Transactions on Automatic Control, vol 52, no 6, pp 985-997, June 2007.

E. K. Larsson, M. Mossberg and T. Söderström: Identification of continuous-time ARX models from irregularly sampled data. IEEE Transactions on Automatic Control, vol 52, no 3, pp 417-427, March 2007.

K. Mahata, S. Mousavi and T. Söderström: On the estimation of complex modulus and Poisson's ratio using longitudinal wave experiments. Mechanical Systems and Signal Processing, vol 20, no 8, pp 2080-2094, November 2006.

M. Simandl, J. Kralovec and T. Söderström: Advanced point-mass method for nonlinear state estimation. Automatica, vol 42, no 7, pp 1133-1145, July 2006.

E. K. Larsson, M. Mossberg and T. Söderström: An overview of important practical aspects of continuous-time ARMA system identification. Circuits, Systems and Signal Processing, vol 25, no 1, pp 17-46, January/February 2006.

K. Mahata, S. Mousavi, T. Söderström and U. Valdek: Using boundary conditions for estimation of complex modulus from flexural wave experiments. IEEE Transactions on Control Systems Technology, vol 13, no 6, pp 1093-1099, November 2005.

T. Söderström, M. Hong and W. X. Zheng: Convergence properties of bias-eliminating algorithms for errors-in-variables identification. International Journal of Adaptive Control and Signal Processing, vol 19, pp 703-722, November 2005.

T. Wigren and T. Söderström: A second order ODE is sufficient for modeling of many periodic signals. International Journal of Control, vol 78, no 13, pp 982-996, September 2005.

K. Halvorsen, T. Söderström, V. Stokes and H. Lanshammar: Using an extended Kalman filter for rigid body pose estimation. ASME Journal of Biomedical Engineering, vol 127, no 3, pp 475-483, June 2005.

T. Söderström, T. Wigren and E. Abd-Elrady: Periodic signal analysis by maximum likelihood modeling of orbits of nonlinear ODEs. Automatica, vol 41, no 5, pp 793-805, May 2005.

Conference papers

T. Söderström and A. Rensfelt: Estimation of material functions using system identification techniques. Invited plenary paper, 4th International Symposium on Advanced Control of Industrial Processes, Adconip, May 23-27, 2011, Hangzhou, China.

T. Söderström and M. Mossberg: Asymptotic accuracy of covariance function based identifying errors-in-variables system parameter estimates. Proc. 49th IEEE Conference on Decision and Control, December 15-17, 2010, Atlanta, GA, USA.

T. Söderström: Errors-in-variables identification using a generalized instrumental variable method. Proc. 49th IEEE Conference on Decision and Control, December 15-17, 2010, Atlanta, GA, USA.

M. Mossberg, Y. Irshad and T. Söderström: Sub-optimal networked system identification based on covariance functions. NecSys '10, 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Annecy, France, September 13-14, 2010.

T. Söderström: System identification for the errors-in-variables problem. Invited plenary paper, UKACC International Conference on CONTROL 2010, 7-10 September 2010, Coventry, UK.

T. Söderström, M. Mossberg and M. Hong: Identifying errors-in-variables systems by using a covariance matching approach. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009.

A. Rensfelt and T. Söderström: Validation of wave propagation models used in nonparametric identification of viscoelastic materials. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009.

J. C. Aguero, G. C. Goodwin, T. Söderström and J. I. Yuz: Sampled Data Errors in Variables Systems. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009.

T. Söderström: Sampling approximations for continuous-time identification. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009.

M. Mossberg and T. Söderström: Continuous-time errors-in-variables system identification through covariance matching without input signal modeling. 2009 American Control Conference, St. Louis, Missouri, USA, June 10-12, 2009.

M. Hong, T. Söderström, U. Soverini and R. Diversi: Comparison of three Frisch methods for errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008.

S. Thil, M. Hong, T. Söderström, M. Gilson and H. Garnier: Statistical analysis of a third-order cumulants based algorithm for discrete errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008.

M. Hong, T. Söderström, J. Schoukens and R. Pintelon: Accuracy analysis of time domain maximum likelihood method and sample maximum likelihood method in errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008.

P. Nauclér and T. Söderström: Feedforward design for a mechanical system with marginally stable inverse. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008.

A. Rensfelt and T. Söderström: Frequency content in an axially impacted bar subject to boundary conditions. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008.

P. Nauclér and T. Söderström: On the tradeoff between feedback properties and disturbance attenuation for a cantilever beam system. Reglermöte 2008 (Swedish National Control Conference), Luleå, Sweden, June 3-5, 2008.

P. Nauclér and T. Söderström: Separation of One-dimensional Waves - a Stochastic Systems Approach. 41st Asilomar Conference on Signals, Systems and Computers, Pacific Grove, California, November 4-7, 2007.

T. Söderström: A Frisch scheme for correlated output noise errors-in-variables identification. European Control Conference, ECC'07, Kos, Greece, July 2-5, 2007.

T. Söderström: Errors-in-variables methods in system identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. Invited plenary paper.

A. Runqvist, S. Mousavi, M. Mossberg and T. Söderström: Nonparametric identification of complex modulus using a non-equlibrium SHPB procedure, 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006.

M. Ekman, M. Hong and T. Söderström: A separable nonlinear least-squares approach for identification of linear systems with errors in variables. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006.

T. Söderström: On computing the Cramer-Rao bound and covariance matrices for PEM estimates in linear state space models. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006.

M. Hong, T. Söderström and W. X. Zheng: Accuracy analysis of bias-eliminating least squares estimates for errors-in-variables identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006.

T. Söderström, E. K. Larsson, K. Mahata and M. Mossberg: Using continuous-time modeling for errors-in-variables identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006.

T. Söderström: Accuracy analysis of the Frisch estimates for identifying errors-in-variables systems. 44th IEEE CDC/ECC 2005, Seville, Spain, December 12-15, 2005.

T. Söderström, M. Hong and W. X. Zheng: Convergence of bias-eliminating least squares methods for errors-in-variables identification. 44th IEEE CDC/ECC 2005, Seville, Spain, December 12-15, 2005.

A. Runqvist, M. Mossberg and T. Söderström: Optimal sensor locations for nonparametric identification of viscoelastic materials. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

P. Naucler, H. Norlander, A. Jansson and T. Söderström: Modeling and control of a viscoelastic piezolaminated beam. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

T. Söderström and M. Hong: Identification of dynamic errors-in-variables systems with periodic data. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

E. Abd-Elrady and T. Söderström: Bias analysis in LS estimation of periodic signals using nonlinear ODE's. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

E. K. Larsson, M. Mossberg and T. Söderström: The Cramer-Rao bound for estimation of continuous-time ARX parameters from irregularly sampled data. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

K. Kumamaru, K. Inoue, F. Tsubouchi and T. Söderström: Improvement of fault detection method for nonlinear black-box systems based on multi-form quasi-ARMAX modeling. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

T. Söderström and A. Rensfelt: Estimation of material functions using system identification techniques. Invited plenary paper, 4th International Symposium on Advanced Control of Industrial Processes, Adconip, May 23-27, 2011, Hangzhou, China. T. Söderström and M. Mossberg: Asymptotic accuracy of covariance function based identifying errors-in-variables system parameter estimates. Proc. 49th IEEE Conference on Decision and Control, December 15-17, 2010, Atlanta, GA, USA. T. Söderström: Errors-in-variables identification using a generalized instrumental variable method. Proc. 49th IEEE Conference on Decision and Control, December 15-17, 2010, Atlanta, GA, USA. M. Mossberg, Y. Irshad and T. Söderström: Sub-optimal networked system identification based on covariance functions. NecSys '10, 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Annecy, France, September 13-14, 2010. T. Söderström: System identification for the errors-in-variables problem. Invited plenary paper, UKACC International Conference on CONTROL 2010, 7-10 September 2010, Coventry, UK. T. Söderström, M. Mossberg and M. Hong: Identifying errors-in-variables systems by using a covariance matching approach. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009. A. Rensfelt and T. Söderström: Validation of wave propagation models used in nonparametric identification of viscoelastic materials. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009. J. C. Aguero, G. C. Goodwin, T. Söderström and J. I. Yuz: Sampled Data Errors in Variables Systems. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009. T. Söderström: Sampling approximations for continuous-time identification. SYSID 2009, IFAC 15th Symposium on System Identification, Saint-Malo, France, July 6-8, 2009. M. Mossberg and T. Söderström: Continuous-time errors-in-variables system identification through covariance matching without input signal modeling. 2009 American Control Conference, St. Louis, Missouri, USA, June 10-12, 2009. M. Hong, T. Söderström, U. Soverini and R. Diversi: Comparison of three Frisch methods for errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008. S. Thil, M. Hong, T. Söderström, M. Gilson and H. Garnier: Statistical analysis of a third-order cumulants based algorithm for discrete errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008. M. Hong, T. Söderström, J. Schoukens and R. Pintelon: Accuracy analysis of time domain maximum likelihood method and sample maximum likelihood method in errors-in-variables identification. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008. P. Nauclér and T. Söderström: Feedforward design for a mechanical system with marginally stable inverse. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008. A. Rensfelt and T. Söderström: Frequency content in an axially impacted bar subject to boundary conditions. IFAC 17th World Congress, Seoul, Korea, July 06-11, 2008. P. Nauclér and T. Söderström: On the tradeoff between feedback properties and disturbance attenuation for a cantilever beam system. Reglermöte 2008 (Swedish National Control Conference), Luleå, Sweden, June 3-5, 2008. P. Nauclér and T. Söderström: Separation of One-dimensional Waves - a Stochastic Systems Approach. 41st Asilomar Conference on Signals, Systems and Computers, Pacific Grove, California, November 4-7, 2007. T. Söderström: A Frisch scheme for correlated output noise errors-in-variables identification. European Control Conference, ECC'07, Kos, Greece, July 2-5, 2007. T. Söderström: Errors-in-variables methods in system identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. Invited plenary paper. A. Runqvist, S. Mousavi, M. Mossberg and T. Söderström: Nonparametric identification of complex modulus using a non-equlibrium SHPB procedure, 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. M. Ekman, M. Hong and T. Söderström: A separable nonlinear least-squares approach for identification of linear systems with errors in variables. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. T. Söderström: On computing the Cramer-Rao bound and covariance matrices for PEM estimates in linear state space models. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. M. Hong, T. Söderström and W. X. Zheng: Accuracy analysis of bias-eliminating least squares estimates for errors-in-variables identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. T. Söderström, E. K. Larsson, K. Mahata and M. Mossberg: Using continuous-time modeling for errors-in-variables identification. 14th IFAC Symposium on System Identification, Newcastle, Australia, March, 29-31, 2006. T. Söderström: Accuracy analysis of the Frisch estimates for identifying errors-in-variables systems. 44th IEEE CDC/ECC 2005, Seville, Spain, December 12-15, 2005. T. Söderström, M. Hong and W. X. Zheng: Convergence of bias-eliminating least squares methods for errors-in-variables identification. 44th IEEE CDC/ECC 2005, Seville, Spain, December 12-15, 2005. A. Runqvist, M. Mossberg and T. Söderström: Optimal sensor locations for nonparametric identification of viscoelastic materials. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005. P. Naucler, H. Norlander, A. Jansson and T. Söderström: Modeling and control of a viscoelastic piezolaminated beam. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005. T. Söderström and M. Hong: Identification of dynamic errors-in-variables systems with periodic data. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005. E. Abd-Elrady and T. Söderström: Bias analysis in LS estimation of periodic signals using nonlinear ODE's. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005. E. K. Larsson, M. Mossberg and T. Söderström: The Cramer-Rao bound for estimation of continuous-time ARX parameters from irregularly sampled data. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005. K. Kumamaru, K. Inoue, F. Tsubouchi and T. Söderström: Improvement of fault detection method for nonlinear black-box systems based on multi-form quasi-ARMAX modeling. Proc. 16th IFAC World Congress, Prague, July 4-8, 2005.

Last updated: 07 March 2012 by Torsten Söderström

Background

Research interests

The book 'System identification'

Some recent publications