Related papers: A simulation-based comparative analysis of PID and…

Stochastic Closed-Loop Active Fault Diagnosis (CLAFD) aims to select the input sequentially in order to improve the discrimination of different models by minimizing the predicted error probability. As computation of these error…

The process of anesthesia is nonlinear with time delay and also there are some constraints which have to be considered in calculating administrative drug dosage. We present an Extended Kalman Filter (EKF) observer to estimate drug…

This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…

Current assistive hearing devices, such as hearing aids and cochlear implants, lack the ability to adapt to the listener's focus of auditory attention, limiting their effectiveness in complex acoustic environments like cocktail party…

This paper proposes a new strategy for missile attitude control using a hybridization of Linear Quadratic Gaussian (LQG), Loop Transfer Recovery (LTR), and Linear Quadratic Integral (LQI) control techniques. The LQG control design is…

In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…

We propose controller synthesis for state regulation problems in which a human operator shares control with an autonomy system, running in parallel. The autonomy system continuously improves over human action, with minimal intervention, and…

Mean arterial blood pressure (MAP) dynamics estimation and its automated regulation could benefit the clinical and emergency resuscitation of critical patients. In order to address the variability and complexity of the MAP response of a…

In decentralized control systems with linear dynamics, quadratic cost, and Gaussian disturbance (also called decentralized LQG systems) linear control strategies are not always optimal. Nonetheless, linear control strategies are appealing…

Robot manipulators are extensively used in industrial applications because of their immense importance such as in constructions automation. Therefore, designing controllers to suit the intensive purpose of the application is one of the…

We consider event-triggered linear-quadratic Gaussian (LQG) control when sensor updates are transmitted over an i.i.d. packet-erasure channel. Although the optimal controller in a standard LQG setup is available in closed form, choosing…

Decentralized PID controllers have been designed in this paper for simultaneous tracking of individual process variables in multivariable systems under step reference input. The controller design framework takes into account the…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

The stability of feedback systems consisting of linear time-delay plants and PID controllers has been investigated for many years by means of several methods, of which the Nyquist criterion, a generalization of the Hermite-Biehler Theorem,…

Two ways of designing low-order discrete-time (i.e. digital) controls for low-order plant (i.e. process) models are considered in this tutorial. The first polynomial method finds the controller coefficients that place the poles of the…

Background: Clinical linear accelerators are an accessible platform for preclinical research on the biological effects of ultra rapid electron irradiation (FLASH). However, they are not inherently designed for the accurate pulse control…

Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…

Effective medication management in Parkinson's Disease (PD) is challenging due to heterogeneous disease progression, variable patient response, and medication side effects. While AI models can forecast levodopa equivalent daily dose (LEDD)…

Proportional-Integral-Derivative (PID) control has been the workhorse of control technology for about a century. Yet to this day, designing and tuning PID controllers relies mostly on either tabulated rules (Ziegler-Nichols) or on classical…

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…