This paper proposes a control strategy for a Diesel Oxidation Catalyst (DOC) which is grounded on a one-dimensional distributed parameter model. This first principles model for the propagation of the temperature variations accounts for spatially distributed heat generation (due to oxidation of reductants). As is discussed, heat generation can be regarded as equivalent inlet temperature variatio...

In this two-set paper, an intelligent control framework which allows maintaining a conceptually simple control design methodology while simultaneously explicitly dealing with uncertainty in both rational component of the plant and delay is presented. This first part is devoted to the Smith Predictor (SP) based control of systems with known rational component and uncertain delay. Thus, as the mi...

This paper considers the stabilization problem for linear time-invariant (LTI) systems with a single delay h in the feedback loop. Two parametrizations of all stabilizing controllers are derived in terms of a state-space realization of the rational part of the plant. These parametrizations have simple structures and clear interpretations: the first is in the form of a generalized dead-time comp...

The article brings a brief revision of the two-degree-of-freedom (2-DoF) internal model control (IMC) and 2-DoF Smith-Predictor-based (SP) unstable systems. It shows that first important reason for distinguishing between these approaches is limitations action. However, it also reminds that, in addition to seemingly lucrative dynamics transients, proposed can conceal tricky behavior with structu...

Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a pressure-based sensing technique, we propose here Smith-predictor-based joint torque control an RDHT-based actuation system. We also use load-cell sensor for ground truth validation. The developed feedback controller is co...