Related papers: Sensitivity analysis and experimental evaluation o…
Repetitive operations are widely conducted by automatic machines in industry. Periodic disturbances induced by the repetitive operations must be compensated to achieve precise functioning. In this paper, a periodic-disturbance observer…
Since most industrial control applications use PID controllers, PID tuning and anti-windup measures are significant problems. This paper investigates tuning the feedback gains of a PID controller via back-calculation and automatic…
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…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
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.…
A resonance and an antiresonance peak characterize many industrial mechanisms dynamics driven by a Permanent Magnet Synchronous Motor (PMSM). The presence of the resonance peak can lead to vibrations and instability of the system. On that…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
This paper presents the analysis of the stability properties of PID controllers for dynamical systems with multiple state delays, focusing on the mathematical characterization of the potential sensitivity of stability with respect to…
Stochastic gradient algorithms are often unstable when applied to functions that do not have Lipschitz-continuous and/or bounded gradients. Gradient clipping is a simple and effective technique to stabilize the training process for problems…
There exist many ways to stabilize an infinite-dimensional linear autonomous control systems when it is possible. Anyway, finding an exponentially stabilizing feedback control that is as simple as possible may be a challenge. The Riccati…
Many studies have found active learning, either in the form of in-class exercises or projects, to be superior to traditional lectures. However, these forms of hands-on learning do not always lead students to reach the higher order thinking…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
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…
This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
We present a controller tuning strategy for first-order plus time delay (FOPTD) processes, where the time delay in the model is approximated using the Pad\'e function. Using Routh-Hurwitz stability analysis, we derive the gain that gives…
Bode integrals of sensitivity and sensitivity-like functions along with complementary sensitivity and complementary sensitivity-like functions are conventionally used for describing performance limitations of a feedback control system. In…
This paper introduces a novel zero-force control method for upper-limb exoskeleton robots, which are used in a variety of applications including rehabilitation, assistance, and human physical capability enhancement. The proposed control…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…