The aim of this study is to develop an automatic control loop monitoring system. The first step includes the detection of changes and of oscillations in the control error and in the control signal. To determine the parameters of the statistical change detection test (a CUSUM test), the average run length (ARL) function is exploited. To detect oscillations, a modified version of Hägglund’s appro...

A mobile robot is an automatic machine that is capable of movement in a given environment. Many techniques of automatic control are proposed. A line tracer is one of the most popular robots. The line tracer goes along a white line on the floor. The authors developed a mobile robot which moves to indicated point automatically. All you have to do is to indicate a goal point. In this paper, we pro...

Technical reports from the Automatic Control group in Linkping are available by anonymous ftp at the address ftp.control.isy.liu.se. This report is contained in the compressed postscript le 2021.ps.Z. Abstract Identiication of systems operating in closed loop has long been of prime interest in industrial applications. The problem ooers many possibilities, and also some fallacies, and a wide var...

In this paper we consider the problem of safe driving of the Dubins’ car on a straight road where the steering control is in the form (1−h)s+hv where v represents a free control and s is an automatic control preventing the system from undesired behaviors that may result from the action of v. We design the safety control s steering the car to the center of the road in minimum time which fact imp...