Related papers: Performance Analysis of Robust Stable PID Controll…
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
The Primal-Dual (PD) algorithm is widely used in convex optimization to determine saddle points. While the stability of the PD algorithm can be easily guaranteed, strict contraction is nontrivial to establish in most cases. This work…
Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…
The precise regulation of rotary actuation is fundamental in autonomous robotics, yet practical PID loops deviate from continuous-time theory due to discrete-time execution, actuator saturation, and small delays and measurement…
There is a rising interest in Spatio-temporal systems described by Partial Differential Equations (PDEs) among the control community. Not only are these systems challenging to control, but the sizing and placement of their actuation is an…
We detail in this article the necessity of a change of paradigm for the delay-robust control of systems composed of two linear first order hyperbolic equations. One must go back to the classical trade-off between convergence rate and…
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
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…
Control of nonlinear distributed parameter systems (DPS) under uncertainty is a meaningful task for many industrial processes. However, both intrinsic uncertainty and high dimensionality of DPS require intensive computations, while…
Proportional-Integral-Differential (PID) control is widely used in industrial control systems. However, up to now there are at least two open problems related with PID control. One is to have a comprehensive understanding of its robustness…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
This study presents a sampling-based method to guarantee robust stability of general control systems with uncertainty. The method allows the system dynamics and controllers to be represented by various data-driven models, such as Gaussian…
This study presents two analytical closed-form PI controller tuning solutions for second-order plants with real poles, each achieving monotonic step response and minimum settling time. The first solution employs pole-zero cancellation,…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
This paper proposes a spectral-based tuning method for proportional-integral (PI) controllers in integrating-plus-dead-time (IPDT) systems. The design objective is to achieve unified exponential decay for both reference tracking and…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
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…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…