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Proportional-Integral-Derivative (PID) control has been most commonly used to operate mechanical systems. In PID control, however, there are limits to the accuracy of the resulting movement because of the influence of gravity, friction, and interaction of joints. In contrast, digital acceleration control (DAC) is robust against these modeling errors by nonlinear terms. DAC requires information of...
In this paper, a feedforward filter is proposed for piecewise step references, which produces time-optimal trajectories under constraints on acceleration. Step response is usually used as the performance index of controlled systems. Thus, the ideal system would be one that has an output which approaches to the step signal quickly without error or overshoot. However, if the output of an actual plant...
This paper describes a systematic method for designing the robust controller for the inverted pendulum which is a nonlinear and single-input double-output system. The system is proved to work properly through simulation and experimentation. It controlled both a car and vertical bar for control inverted pendulum in gravity field. In particular, the system is controlled by PSID. Especially, the result...
The nonlinear system model of an endoatmospheric missile whose attitude is controlled by tail fins and reaction jets is presented. By choosing the divert accelerations and rotational rates as output variables, internal dynamics of the nonlinear system are derived and are proved to be bounded under a bounded input. The blending principle of the reaction jets and tail fins is addressed to ensure the...
This paper deals with an analysis of situated human's behaviour as a controller that stabilizes unstable plants. There are studies that deal with human's dynamics in a certain ideal environment, but few detailed analysis of human who acts freely is discussed yet. We employ the inverted pendulum game to clarify the problem.
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