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This paper presents the synthesis, the implementation and the performance evaluation of an Adaptive Cruise Control (ACC) Stop-&-Go (S&G) design. A Model Predictive Control (MPC) framework is adopted, enabling hybrid control synthesis. Performance of the controller is evaluated, distinguishing between comfort of the resulting longitudinal vehicle behavior and the behavior due to traffic requirements...
In this paper we present a general LMI-based analysis method to determine an upperbound on the L2 gain performance of a reset control system. These computable sufficient conditions for L2 stability, based on piecewise quadratic Lyapunov functions, are suitable for all LTI plants and linear-based reset controllers, thereby generalizing the results available in literature. Our results furthermore extend...
This paper presents a method for higher-order controller design with improved low-frequent disturbance rejection properties. Given a default PID-based controller, the circle criterion is used to construct an extra controller part that deals with resonances resulting from closing the loop. The advantage is twofold. First, a closed-loop shaping method is obtained that is straightforward, graphically-supported,...
Atomic Force Microscopes (AFMs) are widely used for the investigation of samples at nanometer scale. In this paper, we present the modeling, the identification and the control of a metrological AFM. The metrological AFM is used for the calibration of transfer standards for commercial AFMs. Therefore, the focus of the presented work is on scanning accuracy rather than on scanning speed. The contribution...
This paper presents the design of tracking controllers for piecewise linear systems, with application to sheet control in a printer paper path. The approach that we will take is based upon an error space approach, which is derived from linear systems theory. We will show that due to the discontinuity in the piecewise linear system, the resulting model in error space consists of both flow conditions,...
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