25 YEARS AGO «

Excerpts from “Some Solutions, Some Problems, and Some Questions”

ALAN S. WILLSKY with ILLUSTRATIONS by SUSANNA NATTI

his is a slightly expanded written It is this interaction of the solving, likely to see at a conference is some-

T version of a plenary lecture given

at the 20th IEEE Conference on
Decision and Control, December 1981,
formulating, and questioning and cri-
tiquing of problems that is at the heart
of the creative aspects of research.…It
thing like Figure 3. The reasons for
this are relatively clear. First of all, we
all want to let everybody know what
San Diego, CA. This talk is intended is, however, an unfortunate but com- we’ve solved. Secondly, in any rela-
to help spark discussion among pletely understandable fact that what tively homogeneous meeting in which
researchers in decision, control and gets discussed at meetings such as many of the perspectives for motivat-
estimation about the status of research this are, for the most part, solutions. ing, formulating, and solving prob-
in the field and of promising new Consequently the image one is more lems are shared by many of those in
directions for research.
Consider Figure 1 which presents
an image of the title which is perhaps
the first one that springs to mind-
three separate phrases, listed with no
obvious emphases, although the
ordering I’ve chosen may seem a bit
strange. Each phrase conjures up a
mental image but it is a relatively
amorphous one which could be
shaped in a variety of ways.
Intuitively one can think of the
research process as consisting of the
continuing, dynamic interaction of the
three elements listed in my title (Fig-
ure 2). Mathematical problems are for-
mulated and motivated by specific FIGURE 1
classes of applications and by the
methods of solution that one already
knows. Solutions are produced.
Throughout this process, questions are
asked: How can we extend existing
mathematical methodologies? How
can we use existing methodologies in
the context of a specific physical prob-
lem to obtain a tractable formulation
which addresses the issues of interest
in the more ill-defined physical prob-
lem? Why are we working on these
problems? Will they increase the scope
of theory or theoretical understand-
ing? Or do they meet the specific
needs of a class of physical problems?
What types of problems should we be
attempting to formulate, motivated
either by theory or by practice? FIGURE 2

AUGUST 2007 « IEEE CONTROL SYSTEMS MAGAZINE 13

 attendance, there is less reason to
spend significant amounts of time on
discussions and critiques of methods
and formulations and consequently a
danger that no time is so spent. Third,
it’s difficult to discuss problems and
questions as they are far more amor-
phous. I speak from recent experience
on that point, thanks to my labors in
preparing this talk. Fourth, to be fruit-
ful, such discussions must be com-
pletely open and honest critical
FIGURE 3 evaluations of present research direc-
tions, on why and how they have
FIGURE 4
FIGURE 9
14 IEEE CONTROL SYSTEMS MAGAZINE » AUGUST 2007
evolved in the fashion they have, and
where they ought to be going.
Just as the reasons are clear for the
difficulty in having discussions of
problems and questions, the reason
(illustrated in Figure 4) are also clear
for the importance of such discus-
sions. In the first place there is the dis-
tinct danger of leaving questions out
in the cold with solutions, that is the
methods for solving problems that we
have used with great success in the
past, providing the primary driving
force in the formulation of problems
(note that “Solutions” is leading in the
figure). Research that is driven by
such a mechanism runs the risk of
heading off in a tangential and sterile
direction. Furthermore, there is the
potential danger that the original
motivation for a particular research
direction may be lost several genera-
tions downstream with younger
researchers caught up in research
whose purpose they have never really
questions.…Finally, by not asking
questions, we may miss attractive and
exciting areas in which we as a group
can make significant contributions.
SOME QUESTIONS
Now on to some questions. As I indi-
cated earlier in this talk, what I am
interested in doing is in stirring up
some debate and discussion among
researchers in our field.
My first question is on the topic of
large scale systems. In my opinion
there is no doubt that this is the most
important research directions before
us. However, I know that I have a
great deal of difficulty in figuring out
how to say “large” in a problem for-
mulation and how to develop man-
ageable ways to deal with truly large
systems. My question, as illustrated in
Figure 9, is motivated by these diffi-
culties. Specifically, a substantial por-
tion of large scale systems research
seems to deal with trying to force
problems into the framework of tried
and true methods of estimation, con-
trol, and analysis. Clearly in trying to
understand a new type of problem an
important step is that of trying to cast
 Follow-Up Comments from Alan S. Willsky

I
was quite surprised when Kent Lundberg knocked on my door
in mid-April and told me that I was now officially “retro”—with
excerpts of the written version of my 1981 CDC plenary lecture
to be reprinted in a 25-year retrospective column in IEEE Con-
trol Systems Magazine. Kent offered that I might add some
thoughts as an older and wiser (take your pick) version of the
author of those original excerpts.
Not surprisingly, the excerpts that Kent chose to include
are the ones at the start and the end of my lecture, leaving
the center of that talk (on estimation theory problems in
tomography) in the past. There are two interpretations of
that choice, both of which I like. The first is that, just as with
an Oreo cookie, someone ate that sweet center and left
behind the wafers. The other is that the start and end of my
lecture are the parts that were illustrated by my wife Susanna
Natti, whose charming illustrations have delighted children for
years (not to imply that the readers of IEEE Control Systems
Magazine are children…, although I do now have students
who have more books with Susanna’s name on them than
mine). Susanna has been a tremendous resource and has
given me great license in my lectures. I can get away with
saying all sorts of things, since Suzi’s illustrations invariably
charm the listeners, who then compliment me on a great
lecture.
The CDC lecture was our first collaboration, and I had a cou-
ple of very particular objectives in mind when I asked Suzi to
help. The first was to provide a memorable start to the lecture.
While I knew the points I wanted to make, I needed S, P, and Q
to bring them to life. I personally like the ballroom scene and still
feel longing for poor wallflower Q. The second was to provide
some humor to the last part of the talk, where my intent was to
ask questions and hopefully provoke discussion but not irritation
or a need to defend turf. I think I succeeded since, immediately
after the talk, several of the leading researchers in adaptive con-
trol immediately asked for copies of the Grand Bazaar.
While the specific questions I asked more than 25 years ago
now seem old and quite naïve, I would suggest that continuing
self-criticism and -evaluation are not only worthwhile but essen-
tial to the vitality of our field. So, while it would certainly be a
useful exercise to answer my old questions and show how far
off-base I was, it would be even more useful to come up with
other questions at this point in the evolution of our field. I’ll offer
one: How about replacing “Robotics” in Susanna’s takeoff on
The Graduate with “Sensor Networks”?

the problem in a familiar way, but in ory go on forever? Clearly linear sys- enormously beautiful ideas and rela-
this case, this step would seem to be tems will be with us forever, and it tionships to be extracted. But where is
far from the final one. often makes eminent sense to examine linear system theory going?
My question, then, has two sides. new systems concepts, such as large Such a critical evaluation is espe-
First, what if any truly significant scale systems methods, in the context cially important in this field, as we are
breakthroughs in large-scale systems of linear systems, thus avoiding the talking about the research area which
have resulted from using solely the distracting complexities of nonlineari- regularly produces the most papers
same methods and kinds of problem ties. Furthermore, linear systems are submitted to the IEEE Transactions on
formulations that have been used for extraordinarily rich, and there are Automatic Control. As a relative out-
“small scale system”? sider I am frankly
Second, what are the overwhelmed by the
truly new and innova- volume of work and
tive approaches to find it very difficult to
formulating large- gain an appreciation
scale problems and to for what’s important
thinking about large- and significant and
scale systems? what is not. Conse-
The second subject quently, I would real-
on which I’d like to ly like to hear answers
ask a question is one to some of the ques-
in which most of us tions I haven’t the
have at least dabbled. knowledge or insight
The illustration for to answer. Where is the
this question (Figure need for new and im-
10) is Susanna and my proved enormous Ric-
one attempt at allego- cati equation solvers
ry. My question is: and for faster algo-
Will linear system the- FIGURE 10 rithms? Are there still

AUGUST 2007 « IEEE CONTROL SYSTEMS MAGAZINE 15

important problems involving realiza- wide variety of applications. It is also ods, partial results, successes, failures,
tion theory? What else is left to be evident (at least to me) that there is an ideas, beliefs, etc. What I have trouble
done in the algebraic and geometric unbelievably confusing array of meth- finding are the themes, that is the pre-
theories of linear sys- cise problems and per-
tems? What really needs spectives that are driving
to be done to make multi- this field. Knowing these I
variable control design might be able to find the
methods useful and key that would provide an
where is the present need orderly way of viewing all
for them? Related to this, of the different adaptive
let me refer you to the let- schemes that abound.
ter of Dr. J.R. Leigh Without this, I feel like
which appeared in the I’m walking through the
June 1981 Control Systems Grand Bazaar in Istanbul.
Magazine in which he Lots of intriguing things,
asks why advanced but it’s awfully confusing.
process control systems FIGURE 11 My fifth and final
are still based on PID question is on the topic of
concepts and not on more nonlinear filtering…After
recent theoretical meth- all, at one level all that’s
ods (Editor’s Note: see “25 involved in Bayes’ rule
Years Ago in CSM,” Feb- and the Chapman-Kol-
ruary 2006). I for one mogorov equation, and if
would benefit from read- one is willing to invest
ing a response to this let- the computational effort,
ter. one can approximate
My third question is these operations to any
on robotics. At present desired level of accuracy.
this is certainly a topic Also, of course, there are
that’s creating quite a ad hoc procedures like
stir. Everybody seems to the extended Kalman fil-
be talking about it or has ter which sometimes
an interest in it. In fact, to work satisfactorily. Not
overstate a point, let me very pretty or intellectu-
refer you to Figure 11. ally satisfying, but they
Now I know something FIGURE 12 get the job done. Because
of the feeling Dustin of this, I find myself at
Hoffman must have had times wondering (Figure
in The Graduate, only here 13) if what nonlinear fil-
the word is “robotics”, tering theory is doing
rather than “plastics”. amounts to making better
My question then is: and better tie clasps and
What should we be belt buckles, but still the
doing in robotics? only set of clothes the
My fourth question Emperor has is his old
and the illustration for it pair of overalls. Thus my
(Figure 12) represent the question is: What are the
exaggeration of an im- likely ways in which pre-
pression. The question is: sent research in nonlinear
What is the adaptive con- filtering will impact the
trol problem or what are design and analysis of
the adaptive control prob- nonlinear filters?
lems? It is evident that Contributed by
adaptive systems are of Kent Lundberg
great importance in a FIGURE 13

16 IEEE CONTROL SYSTEMS MAGAZINE » AUGUST 2007