Related papers: Constraint-Aware Discrete-Time PID Gain Optimizati…
This paper presents an automated, model-free, data-driven method for the safe tuning of PID cascade controller gains based on Bayesian optimization. The optimization objective is composed of data-driven performance metrics and modeled using…
This paper presents an anti-windup PI controller, using a saturating integrator, for a single-input single-output stable nonlinear plant, whose steady-state input-output map is increasing. We prove that, under reasonable assumptions, there…
This paper presents SOSTIAE (Second-Order System Target IAE), a novel PID tuning method that combines IAE minimization with explicit transient response shaping for practical control applications. The algorithm generates optimal PID…
PID controllers are widely used in control systems because of their simplicity and effectiveness. Although advanced optimization techniques such as Bayesian Optimization and Differential Evolution have been applied to address the challenges…
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…
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…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
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…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
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…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Limited bandwidth and limited saturation in actuators are practical concerns in control systems. Mathematically, these limitations manifest as constraints being imposed on the control actions, their rates of change, and more generally, the…
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…
We study stochastic optimization from a joint continuous-discrete point of view. Starting from a second-order stochastic differential equation interpreted as a noisy accelerated gradient flow, we discretize the dynamics by a fully implicit…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
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…
Reinforcement learning in discrete-continuous hybrid action spaces presents fundamental challenges for robotic manipulation, where high-level task decisions and low-level joint-space execution must be jointly optimized. Existing approaches…
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…
The paper is devoted to the study of a new class of optimal control problems governed by discontinuous constrained differential inclusions of the sweeping type with involving the duration of the dynamic process into optimization. We develop…
Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…