• Time and Output Warping of Control Systems: Comparing and Imitating Motions 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyElsevier, 2011)
      The problem of making one system "mimic" a motion generated by another is studied. To address this, an optimal tracking problem is introduced that, in addition to tracking, optimizes over functions that deform or “warp” ...