Publications - Lubomír Bakule


Books and chapters (1)

1. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Robust overlapping decentralized control of a platoon of vehicles. Mathematics and Simulation with Biological, Economical and Musicoacoustical Applications, 57-62. WSES Press, New York 2001.

Journal articles (29)

1. * Lubomír Bakule, Branislav Rehák, Martin Papík: Decentralized H-infinity control of complex systems with delayed feedback. Automatica 67:1 (2016), 127-131. Elsevier.
2. * Lubomír Bakule, Branislav Rehák, Martin Papík: Decentralized Networked Control of Building Structures. Computer-Aided Civil and Infrastructure Engineering 31:11 (2016), 871-886.
3. * Lubomír Bakule: Decentralized control: Status and outlook. Annual Reviews in Control 38:1 (2014), 71-80. Elsevier.
4. * Lubomír Bakule, Martin Papík: Decentralized control and communication. Annual Reviews in Control 36:1 (2012), 1-10. Elsevier.
5. * Lubomír Bakule: Special issue on decentralized control of large scale complex systems. Kybernetika 45:1 (2009), 1-2. Ústav teorie informace a automatizace AV ČR, v. v. i..
6. * Lubomír Bakule, M. de la Sen: Non-fragile controllers for a class of time-delay nonlinear systems. Kybernetika 45:1 (2009), 15-32. Ústav teorie informace a automatizace AV ČR, v. v. i..
7. * Lubomír Bakule, J. M. Rossell: Overlapping controllers for uncertain delay conitunous-time systems. Kybernetika 44:1 (2008), 17-34. Ústav teorie informace a automatizace AV ČR, v. v. i..
8. * Lubomír Bakule: Decentralized control: An overview. Annual Reviews in Control 32:1 (2008), 87-98. Elsevier.
9. * Lubomír Bakule: Stabilization of uncertain switched symmetric composite systems. Nonlinear Analysis: Hybrid Systems 1:2 (2007), 188-197. Elsevier.
10. * Lubomír Bakule, J. Rodellar, J.-M. Rossell: Robust Overlapping Guaranteed Cost Control of Uncertain State Discrete-Time Systems-Delay Systems. IEEE Transactions on Automatic Control 51:12 (2006), 1943-1950. Institute of Electrical and Electronics Engineers.
11. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar, J. M. Rossell: Overlapping reliable control for a cable-stayed bridge benchmark. IEEE Transactions on Control Systems Technology 13:4 (2005), 663-669. Institute of Electrical and Electronics Engineers.
12. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping quadratic optimal control of time-varying discrete-time systems. Dynamics of Continuous Discrete and Impulsive Systems-Series A-Mathematical Analysis 11, 301-320.
13. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Complementary matrices in the inclusion principle for dynamic controllers. Kybernetika 39:3 (2003), 369-385. Ústav teorie informace a automatizace AV ČR, v. v. i..
14. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Contractibility of dynamic LTI controllers using complementary matrices. IEEE Transactions on Automatic Control 48:7 (2003), 1269-1274. Institute of Electrical and Electronics Engineers.
15. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping quadratic optimal control of linear time-varying commutative systems. SIAM Journal on Control and Optimization 40:5 (2002), 1611-1627. SIAM Society for Industrial and Applied Mathematics.
16. * Lubomír Bakule, Josef Böhm: Decentralized multirate control of interconnected systems. WSEAS Transactions on Circuits and Systems 1:1 (2002), 131-136.
17. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Controllability-observability of expanded composite systems. Linear Algebra and Its Applications, 381-400. Elsevier.
18. * Lubomír Bakule, J. Rodellar, J. M. Rossell, P. Rubió: Preservation of controllability-observability in expanded systems. IEEE Transactions on Automatic Control 46:7 (2001), 1155-1162. Institute of Electrical and Electronics Engineers.
19. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Structure of expansion-contraction matrices in the Inclusion Principle for dynamic systems. SIAM Journal on Matrix Analysis and Applications 21:4 (2000), 1136-1155. SIAM Society for Industrial and Applied Mathematics.
20. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Generalized selection of complementary matrices in the Inclusion Principle. IEEE Transactions on Automatic Control 45:6 (2000), 1237-1243. Institute of Electrical and Electronics Engineers.
21. * Lubomír Bakule, J. Rodellar: Decentralized control design of uncertain nominally linear symetric composite systems. IEE Proceedings. Control Theory and Applications 143:6 (1996), 530-536.
22. * Lubomír Bakule, J. Rodellar: Decentralized control and overlapping decomposition of mechanical systems. Part I: System decomposition. International Journal of Control 61:3 (1995), 559-570. Taylor & Francis.
23. * Lubomír Bakule, J. Rodellar: Decentralized control and overlapping decomposition of mechanical systems. Part II: Decentralized stabilization. International Journal of Control 61:3 (1995), 571-587. Taylor & Francis.
24. * Lubomír Bakule: On-line decentralized control of uncertain interconnected systems. Systems Analysis - Modelling - Simulation 16:1 (1994), 17-24.
25. * Lubomír Bakule, Milan Straškraba: Modelling internal and external control in lake and reservoir ecosystems. Ergebnisse der Limnologie 33:1 (1989), 213-214.
26. * Lubomír Bakule, J. Lunze: Decentralized design of feedback control for large-scale systems. Kybernetika 24:3 /příloha/ (1988), 1-24. Ústav teorie informace a automatizace AV ČR, v. v. i..
27. * Lubomír Bakule, J. Lunze: Decentralized design of feedback control for large-scale systems. Kybernetika 24:4 /příloha/ (1988), 25-48. Ústav teorie informace a automatizace AV ČR, v. v. i..
28. * Lubomír Bakule, J. Lunze: Decentralized design of feedback control for large-scale systems. Kybernetika 24, 73-100.
29. * Lubomír Bakule, J. Lunze: Decentralized design of feedback control for large-scale systems. Kybernetika 24, 49-72.

Conference papers (68)

1. * Lubomír Bakule, Martin Papík, Branislav Rehák: Networked overlapping control for building benchmark. Proceedings of the 6th European Conference on Structural Control (EACS 2016). University of Sheffield, Sheffield 2016.
2. * Lubomír Bakule, Martin Papík, Branislav Rehák: Quantized Event-Triggered Static Output Feedback Stabilization. Proceedings of the 12th IEEE International Conference on Control & Automation (ICCA) 2016, 499-504. IEEE, Kathmandu 2016.
3. * Lubomír Bakule, Martin Papík, Branislav Rehák: Decentralized overlapping control for civil structures. Proceedings of the 7th ECCOMAS Thematic Conference on Smart Structures and Materials (SMART 2015). University of the Azores, Ponta Delgada 2015.
4. * Lubomír Bakule, Martin Papík, Branislav Rehák: Reliable overlapping control for civil structures. Proceedings of the EVACES’15, 6th International Conference on Experimental Vibration Analysis for Civil Engineering Structures. EDP Sciences, Les Ulis Cedex A 2015.   Download
5. * Lubomír Bakule, Martin Papík, Branislav Rehák: Decentralized stabilization of large-scale civil structures. Proceedings of the 19th IFAC World Congress, 2014, 10427-10432. IFAC, Cape Town 2014.   Download
6. * Lubomír Bakule, Martin Papík, Branislav Rehák: Decentralized Reliable Control for a Building Benchmark. Proceedings of the 6th World Conference on Structural Control and Monitoring - 6WCSCM, 2242-2253. CIMNE, Barcelona 2014.
7. * Lubomír Bakule, Martin Papík: Decentralized Model-Based Event-Triggered Control of Complex Systems. Proceedings of the XXIst Congreso ACCA 2014, 305-310. ACCA, Santiago de Chile 2014.
8. * Lubomír Bakule, M. de la Sen, Martin Papík, Branislav Rehák: Decentralized stabilization of symmetric systems with delayed observer-based feedback. 2013 AMERICAN CONTROL CONFERENCE (ACC), 6679-6684. IEEE, New York 2013.
9. * Lubomír Bakule, M. de la Sen, Martin Papík, Branislav Rehák: Decentralized stabilization of complex systems with delayed feedback. Proceedings of the 13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, 2013, 31-36. International Federation of Automatic Control, Shanghai 2013.   Download
10. * Lubomír Bakule, Martin Papík, Branislav Rehák: Stabilization of Decentralized Networked Complex Systems with Multiple-Packet Transmission. Proceedings of the 6th IEEE International Conference on Cybernetics and Intelligent Systems (CIS 2013), 42-47. IEEE, Piscataway 2013.
11. * Lubomír Bakule: Decentralized Control: Status and Outlook (Plenary talk). Proceedings of the 13th IFAC Symposium on Large Scale Complex Systems: Theory and Applications, 2013, 4-5. International Federation of Automatic Control, Shanghai 2013.
12. * Lubomír Bakule, M. de la Sen: Decentralized H-infinity Quantizers Design for Networked Complex Composite Systems. Proceedings of the 18th IFAC World Congres, 2011, 1-6. IFAC, Milano 2011.   Download
13. * Lubomír Bakule: Decentralized Control and Communication (Plenary talk). Preprints of the 12th IFAC Symposium on Large Scale Systems: Theory and Applications, 1-11. IFAC, Villeneuve d'Ascq 2010.
14. * Lubomír Bakule, M. de la Sen: Stabilization of Networked Systems under Information Structure Constraints. Proceedings of the 12th IFAC Symposium on Large Scale Systems: Theory and Applications, 1-6. IFAC, Villeneuve d'Ascq 2010.   Download
15. * Lubomír Bakule, D. Bakulová, Martin Papík: Decentralized Stabilization of Discrete-Time Networked Strongly Coupled Complex Systems. Proceedings of the 12th IFAC Symposium on Large Scale Systems: Theory and Applications, 1-6. IFAC, Villeneuve d'Ascq 2010.   Download
16. * Lubomír Bakule, M. de la Sen: Decentralized Resilient H-infinity Observer-based Control for a Class of Uncertain Interconnected Networked Systems. Proceedings of the 2010 American Control Conference, 1338-1343. AACC, Baltimore 2010.
17. * Lubomír Bakule, M. de la Sen: Decentralized stabilization of networked complex composite systems with nonlinear perturbations. Proceedings of the 2009 IEEE International Conference on Control and Automation, 2272-2277. IEEE, Piscataway 2009.
18. * Lubomír Bakule, M. de la Sen: Resilient Delay-Dependent Observer-based Stabilization of Continuous-time Symmetric Composite Systems. 2008 American Control Conference, 4017-4022. AACC, Seattle 2008.
19. * Lubomír Bakule, M. de la Sen: Stabilization of Nonlinear Switched Continuous-Time Complex Systems. Preprints of the 17th IFAC World Congress, 9326-9331. IFAC, Laxenburg 2008.
20. * Lubomír Bakule: Reliable control of large scale flexible structures. Preprints of the 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Complex Systems: Theory and Applications, 1-6. IFAC - GUT, Gdansk 2007.
21. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping resilient H2 filtering for uncertain continuous-time system. Proceedings of the 2007 American Control Conference, 323-328. IEEE, Piscataway 2007.
22. * Lubomír Bakule: Decentralized control: An overview (Plenary talk). Preprints of the 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Complex Systems: Theory and Applications, 1-10. IFAC - GUT, Gdansk 2007.
23. * Lubomír Bakule: Non-fragile contollers for a class of time-delay nonlinear systems. Preprints of the 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Complex Systems: Theory and Applications, 1-6. IFAC - GUT, Gdansk 2007.
24. * Lubomír Bakule, M. de la Sen: Observer-based stabilization of discrete-time uncertain switching similar composite systems. Preprints of the 11th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Complex Systems: Theory and Applications, 1-6. IFAC - GUT, Gdansk 2007.
25. * Lubomír Bakule: Resilient stabilization of uncertain state-delayed symmetric composite systems. Proceedings of the 25th IASTED International Conference on Modelling, Identification, and Control, 149-154. Acta Press, Calgary 2006.
26. * Lubomír Bakule: Robust H-infinity control of uncertain discrete-time switching symmetric composite systems. Proceedings of the 2nd IFAC Conference on Analysis and Design of Hybrid Systems, 130-135. IFAC, Cagliari 2006.
27. * Lubomír Bakule, J. Rodellar, J. Rossell: Overlapping resilient H_infty control for uncertain time-delayed systems. Proceedings of Joint 44th IEEE Conference on Decision and Control and European Control Conference, 2290-2295. IEEE, Piscataway 2005.
28. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar: Mitigation of seismic vibrations of a benchmark cable bridge using structural active control. Proceedings of the International Symposium on Computational Civil Engineering 2004, 45-54. Societatii Academice, Iasi 2005.
29. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping guaranteed cost control for uncertain continuous-time delayed systems. Preprints of the 16th World Congress of the International Federation of Automatic Control, 1-6. IFAC, Prague 2005.
30. * Lubomír Bakule: Complexity-reduced guaranteed cost control design for delayed uncertain symmetrically connected systems. Proceedings of the 2005 American Control Conference, 2590-2595. IEEE, Piscataway 2005.
31. * Lubomír Bakule: Reduced-order control design of time-delayed uncertain symmetric composite systems. Preprints of the 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, 130-135. KRF Press, Osaka 2004.
32. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping guaranteed cost control for uncertain discrete-time systems. Preprints of the 10th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, 41-46. KRF Press, Osaka 2004.
33. * Lubomír Bakule: Control of time-delayed uncertain symmetrically coupled systems. Proceedings of the 6th IASTED International Conference on Intelligent Systems and Control, 156-161. Acta Press, Calgary 2004.
34. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Inclusion principle for uncertain discrete-time systems with guaranteed cost. Proceedings of the 43th IEEE Conference on Decision and Control, 2712-2716. IEEE, Piscataway 2004.
35. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar, J. M. Rossell: Decentralized overlapping control design for a cable-stayed bridge benchmark. Proceedings of the Third World Conference on Structural Control, 869-874. Wiley, Chichester 2003.
36. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar: Reliable control design for a cable-stayed bridge benchmark. Proceedings of the 2003 American Control Conference, 5040-5045. IEEE, Piscataway 2003.
37. * Lubomír Bakule: Decentralized control of time-delayed uncertain symmetric composite systems. Proceedings of the 4th International Conference on Control and Automation. ICCA'03, 399-403. IEEE, Piscataway 2003.
38. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar: Decentralized seismic response control of a long span cable-stayed bridge for a benchmark problem. Engineering Constructions and the Environment, 1-8. Societatii Academice, Iasi 2003.
39. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping guaranteed cost control for time-varying discrete-time uncertain systems. Proceedings of the 2002 American Control Conference, 1705-1710. IEEE, Piscataway 2002.
40. * Lubomír Bakule, F. Paulet-Crainiceanu, J. Rodellar: Decentralized control design for a cable-stayed bridge benchmark. Proceedings of the 2002 American Control Conference, 3046-3051. IEEE, Piscataway 2002.
41. * Lubomír Bakule, Josef Böhm: Decentralized multirate control of interconnected systems. Proceedings of the 6th WSEAS International Multiconference on Circuits, Systems, Communications and Computers. WSEAS, Athens 2002.
42. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping quadratic optimal control of linear time-varying commutative systems. Proceedings of the 41st IEEE Conference on Decision and Control, 3976-3981. IEEE, Piscataway 2002.
43. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping LQ control of discrete-time time-varying systems. Large Scale Systems: Theory and Applications 2001. Proceedings of the 9th IFAC Symposium, 425-430. Pergamon, Oxford 2002.
44. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Robust overlapping decentralized control of a platoon of vehicles. Proceedings of the WSES International Conference on Simulation. SIM 2001, 1561-1566. WSES Press, Qawra 2001.
45. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Overlapping LQ control of discrete-time time-varying systems. Preprints of the 9th IFAC/IFORS/IMACS/IFIP Symposium Large Scale Systems: Theory and Applications, 425-430. NIRDI, Bucharest 2001.
46. * Lubomír Bakule, J. Rodellar, J. M. Rossell: Matrices complementarias en el principio de inclusión para sistemas dinámicos. XVII CEDYA / VII CMA, 747-754. SEMA, Salamanca 2001.
47. * Lubomír Bakule: Robust decentralized control of large scale systems. Sborník příspěvků 8. ročníku konference MATLAB 2000, 16-26. VŠCHT, Praha 2000.
48. * Lubomír Bakule, Josef Böhm: Robust decentralized H_infinity control of input delayed interconnected systems. NATO Series. . Smart Structures, 1-8. Kluwer, Amsterdam 1999.
49. * Lubomír Bakule, Josef Böhm: Decentralized robust H_infinity control of mechanical structures. Sborník příspěvků 7. ročníku konference MATLAB '99, 7-13. VŠCHT, Praha 1999.
50. * Lubomír Bakule, M. de la Sen: Decentralized stabilization of uncertain symmetric composite systems. Preprints of the 8th IFAC/IFORS/IMACS/IFIP Symposium on Large Scale Systems: Theory and Applications, 265-270. University of Patras, Rio Patras 1998.
51. * Lubomír Bakule, Josef Böhm: Robust decentralized H_infinity control design of input delayed uncertain interconnected systems. SMART '98, 5-8. IFTR, Warsaw 1998.
52. * Lubomír Bakule, M. de la Sen: Decentralized stabilization of input delayed systems under uncertainties. Series on Stability, Vibration and Control of Systems. 13. Proceedings of the First European Conference on Structural Control, 40-47. World Scientific, Singapore 1997.
53. * M. de la Sen, V. Etxebarria, Lubomír Bakule: On the use of multirate sampling for finite spectrum assignment in linear systems with commensurate time delays. Proceedings of the 2nd Portuguese Conference on Automatic Control, 399-404. APCA, Coimbra 1996.
54. * Lubomír Bakule: Decentralized stabilization of uncertain delayed interconnected systems. Large Scale Systems: Theory and Applications, 575-580. Pergamon, Oxford 1995.
55. * Lubomír Bakule: On-line distributed control of uncertain complex systems. Internationales wissenschaftliches Koloquium, 269-274. Technische Universität, Ilmenau 1994.
56. * Lubomír Bakule, J. Rodellar: Controlor Descentralizado de Estructuras Usando Solapamiento. Numerical Methods in Engineering, 204-213. SEMNI, Barcelona 1993.
57. * Lubomír Bakule, J. Rodellar: Decentralized Control Design for Uncertain Systems Using Multimodelling. Symposium on Intelligent Components and Instruments for Control Applications. SICICA '92, 717-722. Pergamon Press, Oxford 1992.
58. * Lubomír Bakule, J. Rodellar, F. López-Almansa: Decentralized Predictive Control Strategies for Flexible Structures. Proceedings of the 1st Symposium on Motion and Vibration Control, -. The Japan Soc.of Mechan.Engineers, Tokyo 1992.
59. * Lubomír Bakule, J. Rodellar: Decentralized Control Design for Uncertain Symmetric Composite Systems. 6th IFAC/IFORS/IMACS Symposium on Large Scale Systems: Theory and Appliction, 79-84. Pergamon Press, Oxford 1992.
60. * Lubomír Bakule: On-Line Decentralized Control of Uncertain Interconnected Systems. 4th IMACS Symposium on Systems Analysis and Simulation, 201-206. Elsevier, Amsterdam 1992.
61. * Lubomír Bakule: Decentralized Robust Controllers for Uncertain Symmetric Composite Systems. Internationales wissenschaftliches Kolloquium. Tagungband, 88-93. Technische Hochschule, Ilmenau 1991.
62. * Lubomír Bakule: Decentralized robust control design using multimodelling. New Trends in Communication, Control, and Signal Processing, 847-854. Elsevier, Amsterdam 1990.
63. * Lubomír Bakule: Decentralized control of water quality in uncertain river systems. Modelling and Control of Biotechnological, Ecological and Biomedical Systems, 271-276. INFORMA, Varna 1990.
64. * Lubomír Bakule, Milan Straškraba: Uncertain ecological system control. Simulation of systems in biology and medicine, 57-58. House of Technology, Prague 1990.
65. * Lubomír Bakule: Decomposition and aggregation of simulation ecosystem models. Simulace systémů. SI-SY/89, 100-103. Dům techniky ČSVTS, Ostrava 1989.
66. * Lubomír Bakule: Decentralized design of robust control for singularly perturbed systems. Large Scale Systems 89. IFAC/IFORS/IMACS Symposium. Theory and Application, 200-205. Kammer der Technik, Berlin 1989.
67. * Lubomír Bakule: Reliable robust controllers for uncertain linear systems. 33.Internationales wissenschaftliches Kolloquium, 27-3O. Technische Hochschule, Ilmenau 1988.
68. * Lubomír Bakule, Milan Straškraba: Simulation in Water Quality Control. Simulation of Systems in Medicine and Biology, 1-5. Dům techniky ČSVTS, Praha 1988.

Other publications (14)

1. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL-A4. Research Report 2375. ÚTIA AV ČR v.v.i, Praha 2018.
2. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL-A5. Research Report 2377. ÚTIA AV ČR v.v.i, Praha 2018.
3. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL-A3. Research Report 2356. ÚTIA AV ČR, Praha 2016.
4. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL-A2. Research Report 2353. ÚTIA AV ČR v.v.i, Praha 2015.
5. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL - A1. Research Report 2344. ÚTIA AV ČR, Praha 2014.
6. * Lubomír Bakule, Martin Papík, Branislav Rehák: DCTOOL. Research Report 2336. ÚTIA AV ČR, Praha 2013.
7. * Lubomír Bakule: 2008 American Control Conference. 2009.
8. * Lubomír Bakule, D. Bakulová, Martin Papík: Control systems. 2008.
9. * Lubomír Bakule: [Review]. Kybernetika 41:6 (2005), 800-800. Ústav teorie informace a automatizace AV ČR, v. v. i..
10. * Lubomír Bakule: Robust decentralized guaranteed cost control for time-delay nonlinear systems. Abstract. Proceedings of the Third International DCDIS Conference, 300. Watam Press, Waterloo 2003.
11. * Lubomír Bakule: [Recenze]. Kybernetika 30:4 (1994), 471-472. Ústav teorie informace a automatizace AV ČR, v. v. i..
12. * Lubomír Bakule: [Recenze]. Kybernetika 29:2 (1993), 201-202. Ústav teorie informace a automatizace AV ČR, v. v. i..
13. * Lubomír Bakule: [Recenze]. Kybernetika 29:4 (1993), 402-403. Ústav teorie informace a automatizace AV ČR, v. v. i..
14. * Lubomír Bakule: [Recenze]. Kybernetika 25:5 (1989), 423-424.