Related papers: Disturbance Observer based Control of Integrating …
We consider the problem of estimating timing of measurements and actuation in distributed sensor and control systems with central processing. The focus is on direct timing estimation for scenarios where clock synchronization is not feasible…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
This paper presents a performance-regulation method for a class of stochastic timed event-driven systems aimed at output tracking of a given reference setpoint. The systems are either Discrete Event Dynamic Systems (DEDS) such as queueing…
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper…
Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
An important performance metric for series-elastic actuators is the range of impedance which they can safely render. Advanced torque control, using techniques such as the disturbance observer, improve torque tracking bandwidth and accuracy,…
The dissipativity framework is widely used to analyze stability and performance of nonlinear systems. By embedding nonlinear systems in an LPV representation, the convex tools of the LPV framework can be applied to nonlinear systems for…
Implementing frequency response using grid-connected inverters is one of the popular proposed alternatives to mitigate the dynamic degradation experienced in low inertia power systems. However, such solution faces several challenges as…
Proportional-integral-derivative (PID) controllers have been widely used in the process industry. However, the satisfactory control performance of a PID controller depends strongly on the tuning parameters. Conventional PID tuning methods…
The energy mix of future power systems will include high shares of wind power and solar PV. These generation facilities are generally connected via power-electronic inverters. While conventional generation responds dynamically to the state…
The present paper provides a sufficient condition to ensure output finite-time and fixed-time stability. Comparing with analogous researches the proposed result is less restrictive and obtained for a wider class of systems. The presented…
This paper studies integral-type event-triggered model predictive control (MPC) of continuous-time nonlinear systems. An integral-type event-triggered mechanism is proposed by incorporating the integral of errors between the actual and…
This paper contributes to the design of a fractional order (FO) internal model controller (IMC) for a first order plus time delay (FOPTD) process model to satisfy a given set of desired robustness specifications in terms of gain margin (Am)…
Observer-based methods are widely used to estimate the disturbances of different dynamic systems. However, a drawback of the conventional disturbance observers is that they all assume persistent excitation (PE) of the systems. As a result,…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
The response to a setpoint change in PID controlled feedback systems plays an important role for the tuning methods. This response may be easily evaluated in linear systems without delay by solving the related ordinary differential…
PID control has been the dominant control strategy in the process industry due to its simplicity in design and effectiveness in controlling a wide range of processes. However, traditional methods on PID tuning often require extensive domain…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…