In this paper, we show that the consistency of closed-loop subspace identification methods (SIMs) can be achieved through innovation estimation. Based on this analysis, a sufficient condition for the consistency of a new proposed closed-loop SIM is given, A consistent estimate of the Kalman gain under closed-loop conditions is also provided based on the algorithm. A multi-input-multi-output simulation shows that itis consistent under closed-loop conditions, when traditional SIMs fail to provide consistent estimates

Lin, Weilu

Ljung, Lennart

Qin, S. Joe

English

Digitala Vetenskapliga Arkivet - Academic Archive On-line

On Consistency of Closed-Loop Subspace Identification with Innovation Estimation

Academic Archive On-line (Linköping University, Sweden)

Everett, Robinson O.

Duke Law Scholarship Repository

LAW AND CONTEMPORARYPROBLEMSVOLUME 26 WINTER, 1961 NUMBERFOREWORDThe harassed city officials charged with planning and execution of an urban re-newal project seldom have time to meditate on what they have wrought (or even toread a Law and Contemporary Problems symposium). Yet, in the rare momentssuch an official may have for reflection, a succession of thoughts -'nd questions abouturban renewal will rush into his mind. He may begin by pondering: Whence camethis urban renewal program? He is aware of the tortuous path followed in thelate 194o's by urban renewal legislation,1 and he knows the basic provisions of theHousing Acts of x949,2 1954,' and i959. 4 With respect to the history of urbanrenewal in his own state, he may recall political compromises that finally led a rural-oriented and rural-dominated legislature-probably chiefly persuaded by the avail-ability of federal subsidies-to give statutory authorization for some form of urbanrenewal And he may remember court tests wherein conservative judges lierelaboriously convinced that under some circumstances, the state and federal constitu-tions allow property to be taken from one man and transferred through the handsof a local governmental agency to another private citizen-and even permit taxrevenues to be spent and municipal bond issues to be floated to facilitate this process.But how did the local program of our imagined urban renewal official come intobeing? Probably its genealogy was confused, and at birth it had appeared "allthings to all men." To the city's humanitarians, urban renewal seemed an effectiveweapon forged by aid of the police power to eliminate slums and blight-and theiraccompanying health, safety, and moral hazards. To hardheaded, somewhat skepticaltaxpayers, it justified itself by its proposed exchange of slums, which drain off citytax dollars, for modern, redeveloped areas, providing substantial new property valuesand accompanying tax revenues.5 To civic promoters, urban renewal promised ameans to resuscitate the downtown business area, already woefully weakened bysuburban shopping centers; to provide prime commercial and industrial sites withwhich to lure new business; to revise and remove horse-and-buggy traffic patterns;'See Foard & Fefferman, Federal Urban Renewal Legislation, 25 TAW & CONTEmP. PROB. 635 (i96o).'63 Stat. 413, 42 U.S.C. §S 144r-83 (1958)-'68 Stat. 623, 42 U.S.C. §S 1450-60 (1958).73 Stat. 672, 42 U.S.C. §§ 1450-60 (Supp. x96o).'For a discussion of the economics of urban renewal and economic criteria in evaluating it, see Davis& Whinston, The Economics of Urban Renewal, infra, p. xos.2 LAW AND CONTEMPORARY PROBLEMSand, generally, to enhance the city's attractiveness. To builders, the availabilityunder urban renewal of new construction opportunities, together with uniquefinancial assistance, afforded ample incentive to push the program. To some propertyowners, it presented an unexpected market for their run-down properties. To pump-primers generally, urban renewal's appeal of new jobs' and more money in circula-tion was well-nigh irresistible. And, last but certainly not least, to persons-mostlymembers of minority groups-living in the blighted areas, the program appeared tooffer a federally-paved escape route from long-experienced squalor into a promisedland of decent housing.As he looks back, the urban renewal official may marvel that his program hasmanaged to overcome so many formidable obstacles. For instance, the structure ofthe city government may originally have been antiquated and unsuited for a strenu-ous urban renewal enterprise.! Although the formulation of a Workable Programaided in focussing on the problem, it may have proved difficult to coordinate urbanrenewal with the city's planning and building inspection activity. The mayor orcity manager and the board of aldermen may have delayed to the utmost in facingup to the unpleasant budgetary realities of effectuating urban renewal. Publichousing officials may sometimes have been out of step with urban renewal, or elsehave treated it merely as a stepchild of their own program. Some members ofminority groups, either by political action in connection with bond issue votes orby legal action, may have protested certain features of the urban renewal plan thatthey felt sacrificed their own interests on the altar of general city progress. Someproperty owners, unable to find suitable reinvestments, disturbed by possible taximplications for them of a sale of their slum property, and cherishing exaggeratedopinions of the value of such property-usually owned for investment purposes ratherthan as residences-may have necessitated a series of troublesome condemnationproceedings.There may also be memories of trips to the state capital to testify or lobby foramendments to the state urban renewal law in order to facilitate the city's urbanrenewal program-by streamlining eminent domain procedures through authoriza-tion of "quick-taking";8 by providing for conservation and rehabilitation projects assupplements, and sometimes alternatives, to acquisition and clearance;9 by obtaininga mandate from the legislature to renew business areas in the city's downtown core;by seeking more flexible and varied means for disposing of urban renewal property;10Thc public administration problems in executing the urban renewal program are discussed inDuggar, The Relation of Local Government Structure to Urban Renewal, infra, p. 49." See Rhyne, The Workable'Program-A Challenge for Community Improvement, 25 LAw & CON-TssIp. PaoB. 685 (196o).r Some of the problcms connected with the use of eminent domain for urban renewal, includingproper compensation for the property owner, are dealt with in" Dagen & Cody, Property, et al. verjutNuisance, et al., infra, p. 7o, and Berger, Current Problems Aflecting Costs of Condemnation, inIra, p. 85.' See the increasing importance of conservation and rehabilitation, as emphasized by ZwernerOsgood, Rehabilitation and Conservation, 25 LAw & CONTEMP. PROB. 705 (x96o).10 The need for greater flexibility and less red tape in disposition of urban renewal land is stressed inBrownfield, The Disposition Problem in Urban Renewal, 25 LAw & CoNmM.s. PROB. 732 (196o).FoREwoiR 3and so on. Perhaps the trips had been made to appear before the state's highwayauthority or commission to urge that its planning and programming be coordinatedwith the city's urban renewal activities. Sometimes they may have extended to theUrban Renewal Administration's regional office to discuss the planning or executionof a project; to the nearest Federal Housing Administration office to discuss re-quested loan guarantees for a redeveloper or for a builder of relocation housing; oreven to Washington to seek information or assistance.Then there has been the problem-a very significant contemporary one-ofclearing away a mountain of paperwork, which accompanies any federal programand in urban renewal is all the heavier by reason of the additional participation oflocal government and private entrepreneurs. Add to this the public hearings onurban renewal and the innumerable speeches and reports which an urban renewalofficial must make-to the board of aldermen, to property owners' associations andthe board of realtors, to citizens' committees organized as a means of liaison withpersons in blighted areas, to civic dubs, and so on-and on.Our retrospective urban renewal official may remember the first demolition per.formed in execution of the urban renewal plan-although, owing to the usual un-expected delays, perhaps a year behind the schedule that he had optimistically, butunrealistically, set for himself at the outset. With clearance begun there was at lastsomething tangible to show as a product of urban renewal; but long before then,relocation problems had been posed n When should the intended relocatee move?Should he wait until the bulldozer reached his front door? How should re-imbursable moving costs for relocating individuals and businesses be computed?Although the loan guarantee programs under sections 22o12 and 2ai20 made availablespecial financial assistance at relatively low interest and with extraordinarily lengthyamortization, difficulties often may have occurred in establishing that the relocateehad a credit rating that would qualify him for such a loan-this task often beingespecially hard where members of minority groups are involved. FHA officials mayhave not rushed forward to make loans under programs with which they wererelatively unfamiliar; sometimes their appraisals of relocation housing may havefallen so low as to slice away the builder's profit margin and discourage him; somebuilders also may have eased away from an unfamiliar type of loan guaranteeprogram.To some extent, shortages of relocation housing possibly could have been met bypublic housing facilities. However, public relations problems may often have beencreated by the circumstance that some persons favorable to urban renewal vigorouslyopposed public housing and could not be persuaded that in providing "decent, safe,and sanitary" housing for relocation,1" urban renewal can seldom be completely inde-"' See Millspaugh, Problems and Opportunities of Relocation, infra, p. 6, for a general treatment ofrelocation.'Sec. 22o, 68 Stat. 596 (19c4), 12 U.S.C. I 1715k (1958):" Sec. ax, 68 Stat. 599 (1954), 12 U.S.C. I 1215t (x958)."63 Stat. 46 (1949), as amended, 68 Stat. 625 (1954), 42 U.S.C. S 1455(c) (x958).4 LAW AND CONTEMPORARY PROBLEMSpendent of public housing facilities. To the extent that sufficient public housing unitswere available to shelter relocatees for whom other relocation housing was unavail-able, there may often have been further problems. For instance, public housingofficials may not -especially have welcomed relocatees whose low income qualifiedthem for public housing but who had lengthy records of crime and misconduct.Weighing the entire process of relocation, the renewal official may ask himself:"Was enough done in taking advantage of the aids that have been-made availablefor relocation-in seizing the opportunity presented by relocation?1 Or did wesimply relocate persons from an old slum into a newer one?"As for property disposition, this hypothetical official may recall many a head-ache-some still throbbing. Although studies of land marketability had been madeas the original project planning proceeded, the necessary time lag in executing urbanrenewal projects may have rendered obsolete some of the data. In several instances,new businesses had proposed to purchase land acquired for urban renewal by theLocal Public Agency and to build impressive buildings thereon; but, as an induce-ment, they may have sought either a writedown in the sales price of the land farbelow its fair value, or else an exemption from future property taxes on the land tobe acquired. Granting such concessions was infeasible-even assuming that thestate constitution authorized the giving of special privileges of this sort.O In otherinstances there may have been negotiations for long-term leases of urban renewalland,17 so that the lessee could acquire federal income tax deductions for the rentalpayments and the Local Public Agency could capitalize on its tax-exempt statuswith respect to the rental payments. And there has been the perennial problemof balancing the qualifications of redevelopers who would be sure to do a high-quality, aesthetic job against those of redevelopers who have made the highestoffers for the property to be disposed of. Moreover, some of the persons who hadowned land acquired for urban renewal may not have understood why they couldnot automatically repurchase their own land after clearance occurred; they may haveremained unimpressed by explanations that state law and the state constitution wouldnot allow them to receive any sales preference with respect to the public at large, andthat, besides, their former tracts of land had been irrevocably and inextricably mergedwith other urban renewal land.After pondering on these and other formidable contemporary problems withwhich urban renewal may thus far have confronted him, our supposititious officialwill undoubtedly experience pride and satisfaction at what he has already accom-plished against sometimes tremendous odds-along with a realization that he willbe challenged in the future by many other, often now unsuspected, problems.1 5 Millspaugh makes a special contribution in his article, infra note xx, by stressing the opportunitiesimplicit in urban renewal."8 See Slayton, State and Local Incentives and Techniques for Urban Reneval, 25 LAw & CoNTEmAP.PRoB. 793 (196o)."TThe use of leases irn urban renewal disposition is analyzed in Brownfield & Rosen, Leasing in theDisposition of Urban Renewal Land, infra, p. 37.FoEwoRD 5The editors of Law and Contemporary Problems hope that any such official-andmany other persons-will deem the present symposium to be of aid in evaluating thetumultuous and confusing past experiences in urban renewal and the correctness ofpast solutions,"8 in analyzing present problems and foreseeing new ones,"9 and inrecognizing the magnitude and importance of the task that lies ahead.'oROBINSON 0. EVERETr."8 For a critical evaluation of some past solutions, see Leach, The Federal Urban Renewal Program:A Ten Year Critique, 25 LAw & Co.trEMp. PROB. 777 (596o)."From the redeveloper's standpoint, the problems of urban renewal are analyzed in Goldston,Hunter & Rothrauff, The Viewpoint of Counsel for a Private Redeveloper, infra, p. 118."o See Walker, A New Pattern for Urban Renewal, 25 LAw & CONrEMP. PRoD. 633 (196o).

Foreword

Publikationer från Linköpings universitet

https://scholarship.law.duke.edu/cgi/viewcontent.cgi?article=2862&amp;context=lcp

Foreword

Abstract

Similar works

Full text

Available Versions

Digitala Vetenskapliga Arkivet - Academic Archive On-line

Academic Archive On-line (Linköping University, Sweden)

Duke Law Scholarship Repository

Publikationer från Linköpings universitet