Related papers: 'Constant in gain Lead in phase' element - Applica…

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…

This paper presents the design and robustness analysis of fractional and integer order PID controllers for the control of a non-linear industrial process in the presence of parametric uncertainness and external disturbances. The nonlinear…

Traditional control methods of robotic peg-in-hole assembly rely on complex contact state analysis. Reinforcement learning (RL) is gradually becoming a preferred method of controlling robotic peg-in-hole assembly tasks. However, the…

This paper is a study of reinforcement learning (RL) as an optimal-control strategy for control of nonlinear valves. It is evaluated against the PID (proportional-integral-derivative) strategy, using a unified framework. RL is an autonomous…

This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…

This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…

Recent advances in rule-based reinforcement learning (RL) have significantly improved the reasoning capability of language models (LMs) with rule-based rewards. However, existing RL methods -- such as GRPO, REINFORCE++, and RLOO -- often…

Reinforcement learning is an emerging approach to control dynamical systems for which classical approaches are difficult to apply. However, trained agents may not generalize against the variations of system parameters. This paper presents…

This paper presents a learning-based control strategy for non-linear throttle valves with an asymmetric hysteresis, leading to a near-optimal controller without requiring any prior knowledge about the environment. We start with a carefully…

The Hybrid Integral Gain Systems (HIGS) has recently gained a lot of attention in the control of precision motion systems. HIGS is a nonlinear low pass filter with a 52 degree phase advantage over its linear counterpart. This property…

This letter presents a novel approach in the field of Active Fault Detection (AFD), by explicitly separating the task into two parts: Passive Fault Detection (PFD) and control input design. This formulation is very general, and most…

This paper focuses on the conversion gain (CG) of pixels implementing pinned photo-diodes (PPD) and in-pixel voltage follower in standard CMOS image sensor (CIS) process. An overview of the CG expression and its impact on the noise…

This paper introduces a Global Positioning System (GPS) Receiver that locates user's position instantly. Recently, many mobile devices require location information to add user position into their contents, and some applications require…

Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…

This paper proposes a systematic and novel component level co-rotational (CR) framework, for upgrading existing 3D continuum finite elements to flexible multibody analysis. Without using any model reduction techniques, the high efficiency…

This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order…

Phase-locked loops are commonly used for shaker-based backbone tracking of nonlinear structures. The state of the art is to tune the control parameters by trial and error. In the present work, an approach is proposed to make backbone…

A linear stability analysis of a single-phase Coupled Natural Circulation Loop (CNCL) is carried out using a Fourier series based 1-D model. A 3-D CFD study is undertaken to assess the ability of the 1-D model to capture the non-periodic…

A reinforcement learning (RL) based methodology is proposed and implemented for online fine-tuning of PID controller gains, thus, improving quadrotor effective and accurate trajectory tracking. The RL agent is first trained offline on a…

The frozen mode regime is a unique slow-light scenario in periodic structures, where the flat-bands (zero group velocity) are associated with the formation of high-order stationary points (aka exceptional points). The formation of…