Related papers: A Parameter Formula Connecting PID and ADRC

Based on equivalent-dynamic-linearization model (EDLM), we propose a kind of model predictive control (MPC) for single-input and single-output (SISO) nonlinear or linear systems. After compensating the EDLM with disturbance for…

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…

In this paper the authors study a non-linear elliptic-parabolic system, which is motivated by mathematical models for lithium-ion batteries. One state satisfies a parabolic reaction diffusion equation and the other one an elliptic equation.…

The paper addresses the boundary control of a class of hyperbolic PDEs, based on an equivalent representation in terms of an integral-difference equation. The situation is considered where direct compensation of reflection terms induces a…

Performance of adaptive control policies is assessed through the regret with respect to the optimal regulator, which reflects the increase in the operating cost due to uncertainty about the dynamics parameters. However, available results in…

This letter considers an active reconfigurable intelligent surface (RIS)-aided multi-user uplink massive multipleinput multiple-output (MIMO) system with low-resolution analog-to-digital converters (ADCs). The letter derives the closedform…

To support the adoption of active disturbance rejection control (ADRC) in industrial practice, this article aims at improving both understanding and implementation of ADRC using traditional means, in particular via transfer functions and a…

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…

The parameter convergence relies on a stringent persistent excitation (PE) condition in adaptive control. Several works have proposed a memory term in the last decade to translate the PE condition to a feasible finite excitation (FE)…

This paper presents a systematic design of an active disturbance rejection control (ADRC) system for unmanned tracked vehicles (UTVs) in leader-follow formation. Two ADRC controllers are designed for the lateral and the longitudinal…

We present a novel approach to the problem of dual-functional radar and communication (DFRC) waveform design with adjustable peak-to-average power ratio (PAPR), while minimizing the multi-user communication interference and maintaining a…

Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…

Safe reinforcement learning (Safe RL) seeks to maximize rewards while satisfying safety constraints, typically addressed through Lagrangian-based methods. However, existing approaches, including PID and classical Lagrangian methods, suffer…

We propose a robust adaptive Model Predictive Control (MPC) strategy with online set-based estimation for constrained linear systems with unknown parameters and bounded disturbances. A sample-based test applied to predicted trajectories is…

Depth control of underwater vehicles in engineering applications must simultaneously satisfy requirements for rapid tracking, low overshoot, and actuator constraints. Traditional fuzzy PID tuning often relies on empirical methods, making it…

Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

This paper addresses the fundamental performance limits of Integrated Sensing and Communication (ISAC) systems by introducing a novel converse bound based on rate-distortion theory. This rate-distortion bound (RDB) overcomes the restrictive…

Closed-loop bioelectronic regulation of engineered secretory cell systems is challenging because electric-field (EF) stimulation acts indirectly through transcription-factor activation, in the presence of delayed, nonlinear, and noisy…

The PID controller parameters can be adjusted in such a manner that it gives the desired frequency response and the results are found using the Bodes integral formula in order to adjust the slope of the nyquist curve in a desired manner.…