Related papers: DiffLoop: Tuning PID controllers by differentiatin…
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…
PID control has been the dominant control strategy in the process industry due to its simplicity in design and effectiveness in controlling a wide range of processes. However, traditional methods on PID tuning often require extensive domain…
This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
Deep reinforcement learning (DRL) has seen several successful applications to process control. Common methods rely on a deep neural network structure to model the controller or process. With increasingly complicated control structures, the…
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,…
PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…
In this paper, we will consider a class of continuous-time stochastic control systems with both unknown nonlinear structure and unknown disturbances, and investigate the capability of the classical proportional-integral-derivative(PID)…
This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
In this work, we establish a convenient similarity between an adaptive backstepping control law and a standard proportional-integral-derivative (PID) controller for a class of second-order systems. The extracted similarity provides a deeper…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
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…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
The work presented here addresses the issue of tuning PD controllers for controlling integrating plus dead-time (IPDT) processes using settling time and gain and phase margin specifications. Tuning formulae are derived for PD controller…
The separated flow downstream a backward-facing step is controlled using visual information for feedback. This is done when looking at the flow from two vantage points. Flow velocity fields are computed in real-time and used to yield inputs…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…
Disturbance observer-based control has shown promise in robustifying robotic systems against uncertainties. However, tuning such systems remains challenging due to the strong coupling between controller gains and observer parameters. In…
Currently, the demand for a better alternative to linear PID controllers is increasing due to the rising expectations of the high-tech industry. In literature, it has been shown that Constant in gain Lead in phase (CgLp) compensators, which…