Related papers: DiffLoop: Tuning PID controllers by differentiatin…
In this project, we designed a DC motor whose speed can be controlled by a PID controller. The proportional, integral and derivative gains (KP, KI, KD) of the PID controller are adjusted according to Fuzzy logic. First of all, the fuzzy…
Proportional-integral-derivative (PID) control, the most common control strategy in the industry, always suffers from health problems resulting from external disturbances, improper tuning, etc. Therefore, there have been many studies on…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…
The deployment of robot controllers is hindered by modeling discrepancies due to necessary simplifications for computational tractability or inaccuracies in data-generating simulators. Such discrepancies typically require ad-hoc tuning to…
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…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
One approach for feedback control using high dimensional and rich sensor measurements is to classify the measurement into one out of a finite set of situations, each situation corresponding to a (known) control action. This approach…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
An optimisation algorithm is proposed for designing PID controllers, which minimises the asymptotic open-loop gain of a system, subject to appropriate robust- stability and performance QFT constraints. The algorithm is simple and can be…
This paper explores the decentralized control of linear deterministic systems in which different controllers operate based on distinct state information, and extends the findings to the output feedback scenario. Assuming the controllers…
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…
This paper addresses the problem of designing an anti-windup like compensator for discrete-time linear control systems with quantized input. The proposed compensator provides a correction signal proportional to the quantization error that…
A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the control loop by a real-time estimation of the derivative of the…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
In this paper we study how high-gain anti-windup schemes can be used to implement projected dynamical systems in control loops that are subject to saturation on a (possibly unknown) set of admissible inputs. This insight is especially…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
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…
Proportional-integral-derivative (PID) control underlies more than $97\%$ of automated industrial processes. Controlling these processes effectively with respect to some specified set of performance goals requires finding an optimal set of…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…