My research is focused on feedback control theory and its applications. A recurrent theme has been to balance the simplicity and insight of classical control with the power and potential of digital control implementation to address nonlinear control problems. The focus is systems with actuator nonlinearities such as saturation, rate constraints, backlash and hysteresis.

I am interested in multiplier theory within the framework of absolute stability theory. Recent highlights include new frequency domain characterisations of both the continuous-time O'Shea-Zames-Falb multipliers and their discrete-time counterparts. I apply these techniques to model predictive control and antiwindup. 

School of Computer Science and Engineering

Bangor University

Dean Street

Bangor

Gwynedd

LL57 1UT

email: w.heath@bangor.ac.uk

2025

• E-pub ahead of printAbsolute Stability Methods
  Carrasco, J., Heath, W. & Seiler, P., 28 Mar 2025, (E-pub ahead of print) Encyclopedia of Systems and Control Engineering. Elsevier
  Research output: Chapter in Book/Report/Conference proceeding › Entry for encyclopedia/dictionary › peer-review

2024

• PublishedPhase Limitations of Multipliers at Harmonics
  Heath, W. P., Carrasco, J. & Zhang, J., 1 Jan 2024, In: IEEE Transactions on Automatic Control. 69, 1, p. 566–573
  Research output: Contribution to journal › Article › peer-review
• E-pub ahead of printPhase Limitations of Multipliers for Nonlinearities With Monotone Bounds
  Heath, W. & Carrasco, J., 16 Oct 2024, (E-pub ahead of print) In: IEEE Transactions on Automatic Control. p. 1-8 8 p.
  Research output: Contribution to journal › Article › peer-review

2022

• PublishedDuality Bounds for Discrete-Time Zames-Falb Multipliers
  Zhang, J., Carrasco, J. & Heath, W. P., 1 Jul 2022, In: IEEE Transactions on Automatic Control. 67, 7, p. 3521-3528 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedMultipliers for Nonlinearities With Monotone Bounds
  Heath, W. P., Carrasco, J. & Altshuller, D. A., 1 Feb 2022, In: IEEE Transactions on Automatic Control. 67, 2, p. 910-917 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedWavelet Package Energy Transmissibility Function and Its Application to Wind Turbine Blade Fault Detection
  Wang, X., Liu, Z., Zhang, L. & Heath, W. P., 1 Dec 2022, In: IEEE Transactions on Industrial Electronics. 69, 12, p. 13597–13606
  Research output: Contribution to journal › Article › peer-review

2021

• PublishedA Hamiltonian decomposition for fast interior-point solvers in model predictive control
  Poupard, E., Heath, W. & Güttel, S., 1 Nov 2021, In: Automatica. 113, 13 p., 109833.
  Research output: Contribution to journal › Article › peer-review
• PublishedAbsolute stability
  Carrasco, J. & Heath, W. P., 11 Nov 2021, Wiley Encyclopedia of Electrical and Electronics Engineering.
  Research output: Chapter in Book/Report/Conference proceeding › Entry for encyclopedia/dictionary › peer-review
• PublishedRobust Stability of Barrier-Based Model Predictive Control
  Petsagkourakis, P., Heath, W. P., Carrasco, J. & Theodoropoulos, C., 1 Apr 2021, In: IEEE Transactions on Automatic Control. 66, 4, p. 1879-1886 8 p.
  Research output: Contribution to journal › Article › peer-review

2020

• PublishedConvex Searches for Discrete-Time Zames-Falb Multipliers
  Carrasco, J., Heath, W. P., Zhang, J., Ahmad, N. S. & Wang, S., 1 Nov 2020, In: IEEE Transactions on Automatic Control. 65, 11, p. 4538-4553 16 p.
  Research output: Contribution to journal › Article › peer-review
• E-pub ahead of printDown-speeding diesel engines with two-stage turbochargers: Analysis and control considerations
  Mirza-Hekmati, D., Heath, W., Apsley, J. & Forbes, J., 1 Dec 2020, (E-pub ahead of print) In: International Journal of Engine Research. 23, 1, p. 78-89 12 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedHigh Speed Crop and Weed Identification in Lettuce Fields for Precision Weeding
  Elstone, L., How, K. Y., Brodie, S., Ghazali, M. Z., Heath, W. P. & Grieve, B., 14 Jan 2020, In: Sensors. 20, 2
  Research output: Contribution to journal › Article › peer-review

2018

• PublishedAbsolute Stability of Systems With Integrator and/or Time Delay via Off-Axis Circle Criterion
  Zhang, J., Tugal, H., Carrasco, J. & Heath, W. P., 1 Jul 2018, In: IEEE Control Systems Letters. 2, 3, p. 411-416 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedPhase Limitations of Zames-Falb Multipliers
  Wang, S., Carrasco, J. & Heath, W. P., 1 Apr 2018, In: IEEE Transactions on Automatic Control. 63, 4, p. 947-959 13 p.
  Research output: Contribution to journal › Article › peer-review

2016

• PublishedAn internal model control approach to mid-ranging control
  Gayadeen, S. & Heath, W., 23 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 42, 11, p. 542-547 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedAnti-windup and the preservation of robustness against structured norm-bounded uncertainty
  Morales, R. M., Li, G. & Heath, W. P., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 41, 2, p. 14144-14149
  Research output: Contribution to journal › Article › peer-review
• PublishedConditions for attaining the global minimum in maximum likelihood system identification
  Zou, Y. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 42, 10, p. 1110-1115 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedControlling a quadruple tanks rig with plcs as a masters dissertation project
  Carrasco, J., Heath, W. P., Liñan, M. C. R., Alli-Oke, R., Kerim, O. A. R. A. & Gutierrez, S. R., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 10, 17, p. 238-243 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedImproved multipliers for input-constrained model predictive control
  Heath, W. P. & Li, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 41, 2, p. 15160-15165
  Research output: Contribution to journal › Article › peer-review
• PublishedLyapunov functions for generalized discrete-time multivariable Popov criterion
  Ahmad, N. S., Heath, W. P. & Li, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 3392-3397 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedModified internal model control anti-windup : Some new insights and interpretations
  Adegbege, A. A. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 7, PART 1, p. 282-287 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRegularised estimators for ARFIMA processes
  Vivero, O. & Heath, W. P., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 16, p. 298-303 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRobust anti-windup compensator synthesis via Integral Quadratic Constraints
  Li, G., Heath, W. P. & Herrmann, G., 25 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 14477-14482 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedThe inherent robustness of constrained linear model predictive control
  Heath, W. P. & Wills, A. G., 16 May 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 38, 1, p. 71-76 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedThe robustness of input constrained model predictive control to infinity-norm bound model uncertainty
  Heath, W. P., Li, G., Wills, A. G. & Lennox, B., 21 Apr 2016, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 39, 9, p. 495-500 6 p.
  Research output: Contribution to journal › Article › peer-review

2015

• PublishedAn improved stability criterion for a class of Lur'e systems
  Li, G., Heath, W. P. & Lennox, B., 1 Jan 2015, In: Automatica. 51, p. 4483-4488 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedEnhanced Tracking for Nanopositioning Systems Using Feedforward/Feedback Multivariable Control Design
  Kara-Mohamed, M., Heath, W. P. & Lanzon, A., 1 May 2015, In: IEEE Transactions on Control Systems Technology. 23, 3, p. 1003-1013 11 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedMultivariable algebraic loops with complementarity constraints enforcing some KKT conditions
  Adegbege, A. A. & Heath, W. P., 5 Feb 2015, p. 1033-1039. 7 p.
  Research output: Contribution to conference › Paper › peer-review

2014

• PublishedAnti-windup and the preservation of robustness against structured norm-bounded uncertainty
  Morales, R. M., Li, G. & Heath, W. P., 25 Nov 2014, In: International Journal of Robust and Nonlinear Control. 24, 17, p. 2640-2652 13 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedDesign of cross-directional controllers with optimal steady state performance
  Heath, W. P. & Wills, A. G., 1 Jan 2014, In: European Journal of Control. 10, 1, p. 15-27 13 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedFeedforward/feedback multivariable control design for high speed nanopositioning
  Mohamed, M. K., Heath, W. P. & Lanzon, A., 2014, In: 2014 European Control Conference, ECC 2014. p. 1939-1944 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedLMI searches for anticausal and noncausal rational Zames-Falb multipliers
  Carrasco, J., Maya-Gonzalez, M., Lanzon, A. & Heath, W. P., 1 Aug 2014, In: Systems and Control Letters. 70, p. 17-22 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedLMI searches for discrete-time Zames-Falb multipliers
  Ahmad, N. S., Carrasco, J. & Heath, W. P., 10 Mar 2014, p. 5258-5263. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedOn multipliers for bounded and monotone nonlinearities
  Carrasco, J., Heath, W. P. & Lanzon, A., 1 Apr 2014, In: Systems and Control Letters. 66, 1, p. 65-71 7 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedTwo-stage multivariable IMC antiwindup (TMIA) control of a quadruple tank process using a PLC
  King-Hans, A. R., Heath, W. P. & Alli-Oke, R., 11 Dec 2014, p. 1681-1686. 6 p.
  Research output: Contribution to conference › Paper › peer-review

2013

• PublishedController structure for plants with combined saturation and deadzone/backlash
  Del Carmen Rodriguez Linan, M. & Heath, W. P., 7 Jan 2013, p. 1394-1399. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedConvex synthesis of multivariable static discrete-time anti-windup via the Jury-Lee criterion
  Syazreen Ahmad, N. & Heath, W. P., 2013, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 46, 23, p. 546-551 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedDesign of multi-array controllers for electron beam stabilisation on synchrotrons
  Gayadeen, S., Duncan, S. R. & Heath, W. P., 15 Aug 2013, In: Proceedings of the American Control Conference. p. 1201-1206 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedDeveloping a student-focused undergraduate laboratory
  Heath, W. P., Onel, O., Green, P. M., Lennox, B., Gai, Z., He, Z. & Rodriguez Liñan, M. C., 2013, In: International Journal of Electrical Engineering Education. 50, 3, p. 268-278 11 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedEquivalence between classes of multipliers for slope-restricted nonlinearities
  Carrasco, J., Heath, W. P. & Lanzon, A., 1 Jun 2013, In: Automatica. 49, 6, p. 1732-1740 9 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedEquivalence between classes of multipliers for slope-restricted nonlinearities
  Carrasco, J., Heath, W. P. & Lanzon, A., 13 Feb 2013, p. 2262-2267. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedLMI search for rational anticausal Zames-Falb multipliers
  Carrasco, J., Maya-Gonzalez, M., Lanzon, A. & Heath, W. P., 4 Feb 2013, p. 7770-7775. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedLMI-based stability criteria for discrete-time lur'e systems with monotonic, sector- and slope-restricted nonlinearities
  Ahmad, N. S., Heath, W. P. & Li, G., 1 Feb 2013, In: IEEE Transactions on Automatic Control. 58, 2, p. 459-465 7 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedOn multipliers for bounded and monotone nonlinearities
  Carrasco, J., Heath, W. P. & Lanzon, A., Jul 2013, 2013 European Control Conference (ECC). IEEE, p. 1711-1716 6 p.
  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review
• PublishedRevisited Jury-Lee criterion for multivariable discrete-time Lur'e systems: Convex LMI search
  Ahmad, N. S., Carrasco, J. & Heath, W. P., 4 Feb 2013, p. 2268-2273. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedStudent-focused undergraduate laboratory development: Position control of a printer head
  Heath, W. P., Onel, O., Green, P. M., Lennox, B., Gai, Z., He, Z. & Liñan, M. C. R., 13 Sept 2013, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 46, 17, p. 232-237 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedThemed project case study: Quadruple tanks control with PLCs
  Carrasco, J., Heath, W. P., Rodriguez Liñan, M. C., Alli-Oke, R., Abdel Kerim, O. A. R. & Rodriguez Gutierrez, S., Jul 2013, In: International Journal of Electrical Engineering Education. 50, 3, p. 279-292 14 p.
  Research output: Contribution to journal › Article › peer-review

2012

• PublishedA regularised estimator for long-range dependent processes
  Vivero, O. & Heath, W. P., 1 Feb 2012, In: Automatica. 48, 2, p. 287-296 10 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedA robust Kalman conjecture for first-order plants
  Alli-Oke, R., Carrasco, J., Heath, W. P. & Lanzon, A., 24 Jun 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 13, p. 27-32 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedAnti-windup synthesis for optimizing internal model control
  Adegbege, A. A. & Heath, W. P., 1 Mar 2012, p. 5503-5508. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedComments on "on the existence of stable, causal multipliers for systems with slope-restricted nonlinearities"
  Carrasco, J., Heath, W. P., Li, G. & Lanzon, A., 1 Sept 2012, In: IEEE Transactions on Automatic Control. 57, 9, p. 2422-2428 7 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedFactorization of multipliers in passivity and IQC analysis
  Carrasco, J., Heath, W. P. & Lanzon, A., 1 May 2012, In: Automatica. 48, 5, p. 909-916 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedFactorization of multipliers in passivity and IQC analysis
  Carrasco, J., Heath, W. P. & Lanzon, A., 1 Mar 2012, p. 6054-6059. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedGlobal convergence conditions in maximum likelihood estimation
  Zou, Y. & Heath, W. P., May 2012, In: International Journal of Control. 85, 5, p. 475-490 16 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedMPC for Plants subject to saturation and deadzone, backlash or stiction
  Del Carmen Rodriguez Linan, M. & Heath, W. P., 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 17, p. 418-423 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRobust anti-windup synthesis for directionality compensation
  Adegbege, A. A. & Heath, W. P., 24 Jun 2012, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 45, 13, p. 276-281 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRobustness preserving anti-windup for SISO systems
  Morales, R. M., Heath, W. P. & Li, G., 1 Mar 2012, p. 639-644. 6 p.
  Research output: Contribution to conference › Paper › peer-review

2011

• PublishedInternal model control design for input-constrained multivariable processes
  Adegbege, A. A. & Heath, W. P., 31 Dec 2011, In: AIChE Journal. 57, 12, p. 3459-3472 14 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedLyapunov functions for discrete-time multivariable Popov criterion with indefinite multipliers
  Ahmad, N. S., Heath, W. P. & Li, G., 22 Feb 2011. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedRegularised estimators for fractional Gaussian noise
  Vivero, O. & Heath, W. P., 22 Feb 2011, p. 5025-5030. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedRobustness preserving antiwindup: Examples and counterexamples
  Heath, W. P., Morales, R. & Li, G., 13 Oct 2011, p. 204-209. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedSimple robustness measures for control of MISO and SIMO plants
  Heath, W. P. & Gayadeen, S., 1 Jan 2011, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 44, 1, p. 11356-11361 6 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedStability conditions for constrained two-stage internal model control
  Adegbege, A. A. & Heath, W. P., 22 Feb 2011, p. 5251-5256. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedThe robustness and design of constrained cross-directional control via integral quadratic constraints
  Morales, R. M. & Heath, W. P., 4 Feb 2011, In: IEEE Transactions on Control Systems Technology. 19, 6, p. 1421-1432 12 p.
  Research output: Contribution to journal › Article › peer-review

2010

• PublishedMultipliers for model predictive control with structured input constraints
  Heath, W. P. & Li, G., 30 Mar 2010, In: Automatica. 46, 3, p. 562-568 7 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedOn MLE methods for dynamical systems with fractionally differenced noise spectra
  Vivero, O. & Heath, W. P., 29 Jan 2010, p. 1842-1847. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedThe quantification of large SNR for MLE of ARARMAX models
  Zou, Y. & Heath, W. P., 29 Jan 2010, p. 5108-5113. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedTwo-stage multivariable antiwindup design for internal model control
  Adegbege, A. A. & Heath, W. P., 30 Sept 2010, In: IFAC Proceedings Volumes (IFAC-PapersOnline). 43, 5, p. 290-295 6 p.
  Research output: Contribution to journal › Article › peer-review

2009

• PublishedLyapunov functions for the multivariable Popov criterion with indefinite multipliers
  Heath, W. P. & Li, G., 1 Dec 2009, In: Automatica. 45, 12, p. 2977-2981 5 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRobust anti-windup against LTI uncertainty using frequency dependent IQCs
  Morales, R. M., Heath, W. P. & Li, G., 13 Nov 2009, p. 3329-3334. 6 p.
  Research output: Contribution to conference › Paper › peer-review

2008

• PublishedConcise stability conditions for systems with static nonlinear feedback expressed by a quadratic program
  Li, G., Heath, W. P. & Lennox, B., 1 Jul 2008, In: IET Control Theory and Applications. 2, 7, p. 554-563 10 p.
  Research output: Contribution to journal › Article › peer-review

2007

• PublishedInterior-point algorithms for nonlinear model predictive control
  Wills, A. G. & Heath, W. P., 2007, Lecture Notes in Control and Information Sciences. 1 ed. Springer, Vol. 358. p. 207-216 10 p. (Lecture Notes in Control and Information Sciences).
  Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review
• PublishedSelf-tuning prediction and control for two-dimensional processes part 2: parameter estimation, set-point tracking and offset handling
  Heath, W. P. & Wellstead, P. E., 22 Oct 2007, In: International Journal of Control. 62, 2, p. 239-269 31 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedThe stability analysis of systems with nonlinear feedback expressed by a quadratic program
  Li, G., Heath, W. P. & Lennox, B., 7 May 2007, p. 4247-4252. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedZames-Falb multipliers for quadratic programming
  Heath, W. P. & Wills, A. G., 15 Oct 2007, In: IEEE Transactions on Automatic Control. 52, 10, p. 1948-1951 4 p.
  Research output: Contribution to journal › Article › peer-review

2006

• PublishedRobust stability analysis of constrained cross-directional control via integral quadratic constraints
  Morales, R. M. & Heath, W. P., 31 Dec 2006, p. 6199-6204. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedZames-Falb multipliers for quadratic programming
  Heath, W. P. & Wills, A. G., 30 Jan 2006, p. 963-968. 6 p.
  Research output: Contribution to conference › Paper › peer-review

2005

• PublishedA sufficient condition for the stability of optimizing controllers with saturating actuators
  Heath, W. P., Wills, A. G. & Akkermans, J. A. G., 1 Aug 2005, In: International Journal of Robust and Nonlinear Control. 15, 12, p. 515-529 15 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedApplication of barrier function based model predictive control to an edible oil refining process
  Wills, A. G. & Heath, W. P., 1 Mar 2005, In: Journal of Process Control. 15, 2, p. 183-200 18 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedChoice of weighting for averaged non-parametric transfer function estimates
  Heath, W. P., 16 May 2005, p. 833-838. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedConstruction of an online reduced-spectrum NIR calibration model from full-spectrum data
  Dodds, S. A. & Heath, W. P., 28 Mar 2005, In: Chemometrics and Intelligent Laboratory Systems. 76, 1, p. 37-43 7 p.
  Research output: Contribution to journal › Article › peer-review

2004

• PublishedAn Exterior/Interior-point Approach to Infeasibility in Model Predictive Control
  Wills, A. G. & Heath, W. P., 15 Mar 2004, p. 3701-3705. 5 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedBarrier function based model predictive control
  Wills, A. G. & Heath, W. P., 1 Aug 2004, In: Automatica. 40, 8, p. 1415-1422 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedRobust cross-directional control of paper making machines with saturating actuators
  Akkermans, J. A. G., Wills, A. G. & Heath, W. P., 2 Mar 2004, In: Control Systems, Preprints, Conference. p. 63-70 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedThe variance of non-parametric errors-in-variables estimates
  Heath, W. P., 15 Mar 2004, p. 6027-6032. 9 p.
  Research output: Contribution to conference › Paper › peer-review

2003

• PublishedThe variations of non-parametric estimates in closed-loop
  Heath, W. P., 1 Nov 2003, In: Automatica. 39, 11, p. 1849-1863 15 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedTwo measures of variation for non-parametric estimates in closed-loop
  Heath, W. P., 10 Mar 2003, p. 2627-2632. 6 p.
  Research output: Contribution to conference › Paper › peer-review

2002

• PublishedA recentred barrier for constrained receding horizon control
  Wills, A. G. & Heath, W. P., 7 Nov 2002, p. 4177-4182. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedAnalysis of steady-state performance for cross-directional control
  Wills, A. G. & Heath, W. P., 1 Sept 2002, In: IEE Proceedings: Control Theory and Applications. 149, 5, p. 433-440 8 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedApplication of basis functions to the cross-directional control of web processes
  Duncan, S. R., Heath, W. P., Halouskova, A. & Karny, M., 6 Aug 2002, p. 1278-1283. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedConfidence regions and experiment design for non-parametric estimation
  Heath, W. P., 6 Aug 2002, p. 3930-3935. 6 p.
  Research output: Contribution to conference › Paper › peer-review
• PublishedModel correction for a class of spatio-temporal systems
  Moheimani, S. O. R. & Heath, W. P., 1 Jan 2002, In: Automatica. 38, 1, p. 147-155 9 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedModel correction for a class of spatio-temporal systems
  Moheimani, S. O. R. & Heath, W. P., 6 Aug 2002, p. 3768-3772. 5 p.
  Research output: Contribution to conference › Paper › peer-review

2001

• PublishedBias of indirect non-parametric transfer function estimates for plants in closed loop
  Heath, W. P., 1 Oct 2001, In: Automatica. 37, 10, p. 1529-1540 12 p.
  Research output: Contribution to journal › Article › peer-review

2000

• PublishedDynamic modeling of cross-directional actuators: implications for control
  Duncan, S. R., Allwood, J. M., Heath, W. P. & Corscadden, K. W., 1 Jul 2000, In: IEEE Transactions on Control Systems Technology. 8, 4, p. 667-675 9 p.
  Research output: Contribution to journal › Article › peer-review

1998

• PublishedIdentification and control of web processes: Polymer film extrusion
  Wellstead, P. E., Heath, W. P. & Kjaer, A. P., 1 Mar 1998, In: Control Engineering Practice. 6, 3, p. 321-331 11 p.
  Research output: Contribution to journal › Article › peer-review

1997

• PublishedOn-line sensing of paper machine wet-end properties: Dry-line detector
  Kjaer, A. P., Wellstead, P. E. & Heath, W. P., 1 Nov 1997, In: IEEE Transactions on Control Systems Technology. 5, 6, p. 571-585 15 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedTwo-dimensional methods for MD and CD estimation and control: Recent progress - An outline of developments and how they relate to sensor research
  Wellstead, P. E., Zarrop, M. B., Heath, W. P., Kjaer, A. P. & Troyas, X., 1 Sept 1997, In: Pulp and Paper Canada. 98, 9, p. 72-76 5 p.
  Research output: Contribution to journal › Article › peer-review

1996

• PublishedCrank-angle based control of high speed diesel engines
  Scotson, P. G. & Heath, W. P., 1 Feb 1996, In: SAE Technical Papers.
  Research output: Contribution to journal › Article › peer-review
• PublishedOrthogonal functions for cross-directional control of web forming processes
  Heath, W. P., 1 Feb 1996, In: Automatica. 32, 2, p. 183-198 16 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedTwo dimensional methods for machine direction and cross direction estimation and control
  Wellstead, P. E., Zarrop, M. B., Heath, W. P., Kjaer, A. P. & Troyas, X., 1996, In: Control Systems, Preprints, Conference. p. 5-8 4 p.
  Research output: Contribution to journal › Article › peer-review

1995

• PublishedIdentification of cross-directional behaviour in web production: Techniques and experience
  Kjaer, A. P., Heath, W. P. & Wellstead, P. E., 1 Jan 1995, In: Control Engineering Practice. 3, 1, p. 21-29 9 p.
  Research output: Contribution to journal › Article › peer-review
• PublishedSelf-tuning prediction and control for two-dimensional processes part 1: fixed parameter algorithms
  Heath, W. P. & Wellstead, P. E., Jan 1995, In: International Journal of Control. 62, 1, p. 65-107 43 p.
  Research output: Contribution to journal › Article › peer-review

1994

• PublishedTwo-dimensional control systems: application to the CD and MD control problem
  Wellstead, P. E. & Heath, W. P., Feb 1994, In: Pulp and Paper Canada. 95, 2, p. 48-51 3 p.
  Research output: Contribution to journal › Article › peer-review