Related papers: A Practical Guide to PID Controller Implementation
Reinforcement learning has been successfully applied to the problem of tuning PID controllers in several applications. The existing methods often utilize function approximation, such as neural networks, to update the controller parameters…
In this paper we study robust output tracking and disturbance rejection of linear partial differential equation (PDE) models. We focus on demonstrating how the abstract internal model based controller design methods developed for "regular…
We consider the symbolic controller synthesis approach to enforce safety specifications on perturbed, nonlinear control systems. In general, in each state of the system several control values might be applicable to enforce the safety…
Future power grids will offer enhanced controllability due to the increased availability of power flow control units (FACTS). As the installation of control units in the grid is an expensive investment, we are interested in using few…
The design of new control strategies for future energy systems can neither be directly tested in real power grids nor be evaluated based on only current grid situations. In this regard, extensive tests are required in laboratory settings…
Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…
Designing of microprocessor based controllers requires specific hardware as well as software programming. Programming depends upon type of the software whether operating software or application software. Programming requires knowledge of…
We carry-out a detailed analysis of direct voltage control of a Boost converter feeding a simple resistive load. First, we prove that using a classical PI control to stabilize a desired equilibrium leads to a very complicated dynamic…
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…
Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…
Private Information Retrieval (PIR), despite being well studied, is computationally costly and arduous to scale. We explore lower-cost relaxations of information-theoretic PIR, based on dummy queries, sparse vectors, and compositions with…
DC motors have been widely used in many industrial applications, from small jointed robots with multiple degrees of freedom to household appliances and transportation vehicles such as electric cars and trains. The main function of these…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
We report results obtained and insights gained while answering the following question: how effective is it to use a simulator to establish path following control policies for an autonomous ground robot? While the quality of the simulator…
How can precise control be realised in intrinsically noisy systems? Here, we develop a general theoretical framework that provides a way to achieve precise control in signal-dependent noisy environments. When the control signal has Poisson…
The connections between optimal control and Bayesian inference have long been recognised, with the field of stochastic (optimal) control combining these frameworks for the solution of partially observable control problems. In particular,…
Optimization-based controller tuning is challenging because it requires formulating optimization problems explicitly as functions of controller parameters. Safe learning algorithms overcome the challenge by creating surrogate models from…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
The problem of secret-key based authentication under privacy and storage constraints on the source sequence is considered. The identifier measurement channels during authentication are assumed to be controllable via a cost-constrained…
The complexity of droplet microfluidics grows by implementing parallel processes and multiple functionalities on a single device. This poses a challenge to the engineer designing the microfluidic networks. In today's design processes, the…