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In this paper, a simple scheme to estimate frequency responses of linear time-invariant single-input single-output (SISO) systems based on closed-loop step response data is investigated. The method uses only a single set of step response data of plants under closed-loop operating conditions. The input and output of a plant are filtered by a simple bandpass filter, and the frequency response of the...
In this paper a multi-stage switching type digital controller is proposed for spreading capacitance load range more and improving transient characteristics for inductance load. In the previous proposed controller, the configuration of the controller is the same to all loads. At inductive load, there is a possibility that the transient characteristics may become bad and the specification may not be...
Robust DC-DC converter which can cover extensive load changes and also input voltage changes with one controller is needed. Then the demand to suppressing output voltage change becomes still severer. We proposed an aproximate 2DOF digital controller which realizes the start-up response and dynamic load response independently. The controller makes the control bandwidth wider, and at the same time makes...
This paper addresses online modification of reference trajectories for multiple robots with collision avoidance. First, a smooth mapping dependent on the relative distances between the robots is proposed to coordinate collision-free motion from given reference trajectories. The trajectories modified by the mapping make the robots avoid collisions with each other, and are smooth enough to be tracked...
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