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This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
The concept of integration is generally applicable to automatic control of processes. As shown in this paper, integral controller performs efficient searches in the extensive prime sets, too. An inspiration by the simple analytic rules for…
A fractional order (FO) PID or FOPID controller is designed for an Automatic Voltage Regulator (AVR) system with the consideration of contradictory performance objectives. An improved evolutionary Non-dominated Sorting Genetic Algorithm…
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…
The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
This paper presents the tuning of a reset-based element called "Constant in gain and Lead in phase" (CgLp) in order to achieve desired precision performance in tracking and steady state. CgLp has been recently introduced to overcome the…
The ever-increasing industry desire for improved performance makes linear controller design run into fundamental limitations. Nonlinear control methods such as Reset Control (RC) are needed to overcome these. RC is a promising candidate…
In some of the complicated control problems we have to use the controllers that apply nonlocal operators to the error signal to generate the control. Currently, the most famous controller with nonlocal operators is the fractional-order PID…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
Projection-based integrators are effectively employed in high-precision systems with growing industrial success. By utilizing a projection operator, the resulting projection-based integrator keeps its input-output pair within a designated…
We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…
The continuous and discrete time Linear Quadratic Regulator (LQR) theory has been used in this paper for the design of optimal analog and discrete PID controllers respectively. The PID controller gains are formulated as the optimal…
This paper proposes the application of fractional-order PID (FOPID) controller for output voltage control of boost converters. For this purpose, parameters of the FOPID controller are calculated such that the Integral Absolute Error (IAE)…
This paper looks at frequency domain design of a fractional order (FO) PID controller for an Automatic Voltage Regulator (AVR) system. Various performance criteria of the AVR system are formulated as system norms and is then coupled with an…
This paper concerns the adaptive control of a class of discrete-time nonlinear systems with all states accessible. Recently, a high-order tuner algorithm was developed for the minimization of convex loss functions with time-varying…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
The canonical proportional-integral-derivative (PID) control approach has been widely used in industrial application due to their simplicity and ease of use. However, its corresponding controller parameters are hard to be adjusted,…