Impedance Changes Elicited by Electrocutaneous Stimulation (1977)

&lt;p&gt;The authors regret that the above-referenced published journal paper omitted to indicate that an initial version of the results was reported in the conference paper [1], “A Predictive Control Solution for Driveline Oscillations Damping”, by C.F. Caruntu, A.E. Balau, M. Lazar, P.P.J. v.d. Bosch, and S. Di Cairano, which was presented at the 2011 Hybrid Systems: Computation and Control Conference, Chicago, Illinois, USA. The authors are grateful to Dr. A.E. Balau for indicating this omission and the fact that the above–referenced published journal paper, even if providing additional contributions, largely builds upon the results presented in the conference paper [1]. In order to rectify these issues, to account for the contribution of all the authors of the conference paper [1] to the underlying proposed modeling and control framework, and to explain the differences with respect to [1], the following (purely textual) modifications to the List of Authors, Abstract, Introduction, Conclusions, Acknowledgements and References were made: Modifications to List of Authors: The authors list: “Constantin F. Caruntu, Mircea Lazar, Stefano Di Cairano” was replaced by the authors list: “Constantin F. Caruntu, Andreea E. Balau, Mircea Lazar, Paul P.J. v.d. Bosch, Stefano Di Cairano” Modifications to Abstract: The following sentences: “The first contribution of this paper is the derivation of an accurate piecewise affine drivetrain model with three inertias. The second contribution is concerned with the design of a horizon-1 predictive controller based on flexible Lyapunov functions.” were replaced with the following sentence: The contribution of this paper is to demonstrate that horizon-1 model predictive control based on flexible Lyapunov functions and piecewise affine drivetrain models with three inertias provides an effective solution to driveline oscillation damping. Modifications to Introduction: The following sentences: “The first contribution of this paper is the development of a PWA model for an automotive driveline, which brings several improvements with respect to the above mentioned models, by considering the driving load given by the airdrag torque, gravity and rolling resistance, and four modes to describe the clutch dynamics. Taking into account all these factors yields a more accurate model of the driveline dynamics.” were replaced with the following sentences: This paper makes use of the PWA model with three inertias for an automotive driveline introduced in [1], and further developed in [2], which brings several improvements with respect to the above mentioned models, by considering the driving load given by the airdrag torque, gravity and rolling resistance, and four modes to describe the clutch dynamics. The first contribution of this paper is to further validate the accuracy of this PWA model with three inertias, compared to other affine and PWA driveline models of the driveline. The following sentences: “As such, the second contribution of this paper is to make use of a recently introduced design method for horizon-1 MPC, based on flexible control Lyapunov functions [30], with the aim of reducing the driveline oscillations. The algorithm therein has the potential to satisfy the timing requirements, due to the short horizon, while it can still offer a non-conservative solution to stabilization due to the flexibility of the Lyapunov function. Several simulation scenarios defined in collaboration with Ford Research and Advanced Engineering, US validate the proposed approach and indicate that the proposed scheme, besides yielding a feasible algorithm, outperforms controllers obtained using typical approaches, such as PID control.” were replaced with the following sentences: As such, this paper makes use of an alternative design method for horizon-1 MPC [1], based on flexible control Lyapunov functions [30], with the aim of reducing driveline oscillations. Due to the short horizon, the algorithm has the potential to satisfy the timing requirements while it can still offer a non-conservative solution to stabilization due to the flexibility of the Lyapunov function. The second contribution is to provide an extensive comparison of the horizon-1 predictive controller with two PID controllers, for several simulation scenarios defined in collaboration with Ford Research and Advanced Engineering, US. The obtained results validate the proposed approach and indicate that the proposed scheme, besides yielding a feasible algorithm, outperforms standard PID controllers. Before the paragraph: “The remainder of the paper is structured as follows. In Section 2, a PWA model of the drivetrain is presented, which considers both driveshaft and clutch flexibilities. Then, in Section 3, the predictive control strategy based on flexible Lyapunov functions is designed. Section 4 presents extensive simulation results, while conclusions are summarized in Section 5.” the following paragraph was added: A preliminary version of this work appeared in the conference paper [1]. Additionally to the results presented in [1], this paper provides an extensive validation of the PWA model (Section 2.2.1.), a realistic comparison with two PID controllers (Section 4.1), it includes several observations useful for the practical relevance of the model (reported in Remark 2.1, Remark 2.2, Remark 4.3), it provides updated simulations (Section 4) and additional relevant references. Modifications to Conclusions: The following sentence: “As such, firstly, a novel, more accurate state-space piecewise affine drivetrain model with three inertias was derived, in which both driveshafts and clutch flexibilities were considered.” was replaced by the following sentence: As such, firstly, a more accurate state-space piecewise affine drivetrain model with three inertias is used, in which both driveshafts and clutch flexibilities were considered. Modifications to Acknowledgements: The following sentence: “The authors are grateful to Prof. C. Lazar for his contribution in the drivetrain modeling phase and the reset condition development and to Dr. A. Balau and Prof. P.P.J. van den Bosch for the useful comments and suggestions.” was replaced by: The authors are grateful to Prof. C. Lazar for his contribution in the drivetrain modeling phase and the reset condition development. Modifications to References: The references [1] and [2] were added to the reference list.&lt;/p&gt;