This paper proposes a simple approach to design a PID controller for an uncertain SISO system that will guarantee closed loop stability when the input is varied between 0 and 60 % of its working range. The Robust Controller design method used here is based on Small Gain theorem. A family of transfer functions corresponding to different working ranges is used to describe the uncertain plant for ...

This paper proposes a new method to solve the controller-reduction problem based on the L1-norm. This method uses a reduced-order closed-loop system to deduce reduced-order controllers. The problem of obtaining the required lower-order closed-loop system was formulated as an L1-norm optimization, and the conditions were provided for guaranteeing the internal stability and the existence of lower...

In the present paper, controller design is performed using lambda tuning method and controller performance is compared for various values of desired closed loop time constant. A blending system, which can be represented as a first order plus dead time model, is selected from literature survey for this analysis. The performance is calculated in terms of rise time, settling time, over shoot (%), ...

In this paper the robust stability of an autonomous mobile robot based on a parametric approach is presented. The closed-loop control consists of Multi-Input / MultiOutput (MIMO) uncertain plant (mobile robot) and a MIMO Proportional Integral (PI) controller. Using Kharitonov’s Theorem and Zero Exclusion Condition the closed-loop system is proved to be robustly stable in the presence of paramet...

This paper presents a pole-placement based control algorithm to treat ISA Fieldbus H1 delay problems. A digital network delay model is embedded with the process model in order to design a suitable closed-loop controller. The effect of different values of network delay against sampling time is analyzed. Pole-placement technique should not simplify zeros in order to achieve stability in closed-lo...

Generally, in most dexterous manipulation tasks the manipulator undergoes a transition from free motion to contact con guration with its environment. An example can be the exploratory unconstrained motions of the force guided manipulator for establishing contact with an environment. This transition usually involves the impact stage. The impact usually results in an unstable performance of the c...

Generally, in most dexterous manipulation tasks the manipulator undergoes a transition from free motion to contact connguration with its environment. An example can be the exploratory unconstrained motions of the force guided manipulator for establishing contact with an environment. This transition usually involves the impact stage. The impact usually results in an unstable performance of the c...