Related papers: Classical Stability Margins by PID Control
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge…
Proper modeling of inverter-based microgrids is crucial for accurate assessment of stability boundaries. It has been recently realized that the stability conditions for such microgrids are significantly different from those known for large-…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
A Proportional- Integral- Derivative (PID) controller is required to bring a system back to the stable operating region as soon as possible following a disturbance or discrepancy. For successful operation of the PID controller, it is…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
Classical adaptive control proves total-system stability for control of linear plants, but only for plants meeting very restrictive assumptions. Approximate Dynamic Programming (ADP) has the potential, in principle, to ensure stability…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
Here we deal with the stabilization problem of non-diagonal systems by boundary control. In the studied setting, the boundary control input is subject to a constant delay. We use the spectral decomposition method and split the system into…
The Proportional-Integral-Derivative Controller is widely used in industries for process control applications. Fractional-order PID controllers are known to outperform their integer-order counterparts. In this paper, we propose a new…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
To overcome the oscillation problem in the classical momentum-based optimizer, recent work associates it with the proportional-integral (PI) controller, and artificially adds D term producing a PID controller. It suppresses oscillation with…
The purpose of this article is to introduce the original results which devoted with the nonlinear control system problems involves of nonlinear differential equations of fractional orders. Thus, this system is described with a mixed of…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
We study the possibility to stabilize unstable steady states and unstable periodic orbits in chaotic fractional-order dynamical systems by the time-delayed feedback method. By performing a linear stability analysis, we establish the…