Closing the loop around an exponentially stable single-input single-output regular linear system, subject to a globally Lipschitz and non-decreasing actuator nonlin-earity and compensated by an integral controller, is known to ensure asymptotic tracking of constant reference signals, provided that (a) the steady-state gain of the linear part of the plant is positive, (b) the positive integrator...

Software Testing Most people knowledgeable about technology generally understand that testing is useful, but they’re short on concrete details as to why. Furthermore, some fail to recognize that testing can be as problematic as it is beneficial. Some think that software testing is merely a set of tools—they have no idea about its rich history of debates over deep theoretical questions. Furtherm...

We show how to construct arbitrage-free models of the term structure of interest rates in which various expectations hypotheses can hold. McCulloch (1993) provided a Gaussian non-Markovian example of the unbiased expectations hypothesis (U{EH), thereby contradicting the assertion by Cox, Ingersoll, and Ross (CIR, 1981) that only the so-called local expectations hypothesis could hold. We general...