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This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…

Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…

Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…

A controller design technique for shaping the frequency response of a process is described. A general linear model (GLM) is used to define the form of a lag or lead compensator in discrete time using a prescribed set of basis functions. The…

Networks constructed out of resistors, inductors, capacitors and transformers form a compelling subclass of simple models. Models constructed out of these basic elements are frequently used to explain phenomena in large-scale applications,…

The varied and complex dynamics of real-world systems challenge the formulation of a systematic strategy for designing a stabilizing feedback law. Rather than taking a universal approach, the control strategies developed thus far to handle…

When designing controllers for large-scale systems, the architectural aspects of the controller such as the placement of actuators, sensors, and the communication links between them can no longer be taken as given. The task of designing…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…

Overall, in any system, the proportional term, integral term, and derivative term combined to produce a fast response time, less overshoot, no oscillations, increased stability, and no steady-state errors. Eliminating the steady state…

Declines in cost and concerns about the environmental impact of traditional generation have boosted the penetration of renewables and non-conventional distributed energy resources into the power grid. The intermittent availability of these…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…

Parameter selection is one of the most important parts for nearly all the control strategies. Traditionally, controller parameters are chosen by utilizing trial and error, which is always tedious and time consuming. Moreover, such method is…

In this note we identify a class of underactuated mechanical systems whose desired constant equilibrium position can be globally stabilised with the ubiquitous PID controller. The class is characterised via some easily verifiable conditions…

Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…

This article proposes a methodology for the development of adaptive traffic signal controllers using reinforcement learning. Our methodology addresses the lack of standardization in the literature that renders the comparison of approaches…

This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…

The traditional control theory and its application to basic and complex systems have reached an advanced level of maturity. This includes aerial, marine, and ground vehicles, as well as robotics, chemical, transportation, and electrical…

Electric throttle valves represent a challenge for control design, as their dynamics involve strong nonlinearities, characterized by an asymmetric hysteresis. Carrying experiments on multiple valves, a large variability in the…