Proportional-integral-derivative (PID) controllers are described in most automatic control textbooks. The application of PID controllers is widely spread in automation of mechanical processes where control of motors is of concern. This paper focuses on implementation of the PID control when used for regulation of dc motors. Two basic PID structures for position regulation of armature-controlled...

We investigated the timing of gait parameter changes (stride length, peak toe velocity, and double-, single-support, and complete step duration) to control gait speed. Eleven healthy participants adjusted their gait speed on a treadmill to maintain a constant distance between them and a fore-aft oscillating cue (a place on a conveyor belt surface). The experimental design balanced conditions of...

In this paper, we consider tbe problem of estimah ing the angular velocity of an induction motor using encoder measurements. -0 methods are compared, In tbe first method, tbe speed is found by calculating the backward differes~ce of tbe position measurem ent and low-pass filtering the result. In the second method, the velocity is estimated using a nonlinear observer constructed using the known ...

This paper investigates the velocity-free feedback control problem associated with finite time attitude stabilization of a rigid spacecraft subject to external disturbance and input saturation. First of all, to address the lack of angular velocity measurement, a novel, fast, finite time convergent observer is proposed to recover the unknown angular velocity information in a finite time under ex...

Six results are reported. (a) Reaching accuracy increases when visual capture of the target is allowed (e.g., target on vs. target off at saccade onset). (b) Whatever the visual condition, trajectories diverge only after peak acceleration, suggesting that accuracy is improved through feedback mechanisms. (c) Feedback corrections are smoothly implemented, causing the corrected and uncorrected ve...

The work is concerned with the integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism. The control scheme was synthesized using the centralized model with proposed structure of dynamic controller that involves two feedback loops: position-velocity feedback of the robotic mechanism joints and reinforcement learning feedback around Ze...

The integrated dynamic control of humanoid locomotion mechanisms based on the spatial dynamic model of humanoid mechanism is presented in this paper. The control scheme was synthesized using the centralized model with proposed structure of dynamic controller that involves two feedback loops: position-velocity feedback of the robotic mechanism joints and reinforcement learning feedback around Ze...

in this paper, control of a non-isothermal continuous stirred tank reactor in which two parallel autocatalytic reactions take place has been addressed. the reactor shows chaotic behavior for a certain set of reactor parameters. in order to control the product concentration, an optimal state feedback controller has been designed. since concentrations of reactor species are not measured, an obser...

a fault-tolerant control (ftc) methodology has been presented for nonlinear processes being imposed by control input constraints. the proposed methodology uses a combination of feedback linearization and model predictive control (flmpc) schemes. the resulting constraints in the transformed process will be dependent on the actual evolving states, making their incorporation in the design context ...