joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

this paper presents h∞ control problem for input-delayed systems. a neutral system approach is considered to the design of pd controller for input delay systems in presence of uncertain time-invariant delay. using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. the significant specification of this neutral system is that its delayed coeff...

This paper presents an adaptive pole-placement based controller for continuous-time linear systems with unknown and eventually time-varying point delays under uncertainties consisting of unmodeled dynamics and eventual bounded disturbances. A multiestimation scheme is designed for improving the identification error performance and then to deal with possibly errors between the true basic delay c...

This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...

in this paper, controlling the gyros with linear plus cubic damping is considered. hence, an adaptive control algorithm is proposed to overcome the uncertainties in model parameters and the chaotic behavior of gyroscopes. it is noted that for general applications dynamic model coefficient of gyros is not precisely determined, on the other hand, with respect to a particular coefficient gyroscope...

this paper focuses on the non-fragile guaranteed cost control problem for a class of t-s fuzzy time-varying delay systems with local bilinear models. the objective is to design a non-fragile guaranteed cost state feedback controller via the parallel distributed compensation (pdc) approach such that the closed-loop system is delay-dependent asymptotically stable and the closed-loop performance i...

Nyquist rate converters have traditionally been used for low to moderate resolution data acquisition applications. In this paper, we describe a feedforward residue compensation (FRC) technique to extend the resolution of such converters using an oversampling modulator loop. Closed-form analytical expressions are developed to provide insight into the operation and limits on the resolution of suc...

It is well established that passive frequency standards operated in pulsed mode may suffer a degradation of their frequency stability due to the frequency (FM) noise of the Local Oscillator (LO). In continuously operated frequency standards, it has been shown that a similar degradation of the frequency stability may arise, depending on the used modulation-demodulation scheme. In this paper, we ...

BACKGROUND We assessed the pharmacokinetics of subcutaneous insulin aspart and glucagon during closed-loop operation and their relationship with body composition variables. METHODS We retrospectively analyzed data collected from closed-loop experiments in 15 type 1 diabetes patients (age 47.1 ± 12.3 years, body mass index 25.9 ± 4.6 kg/m², glycated hemoglobin 7.9% ± 0.7%). Patients received a...

OBJECTIVE We evaluated the effect of the MD-Logic system on overnight glycemic control at patients' homes. RESEARCH DESIGN AND METHODS Twenty-four patients (aged 12-43 years; average A1c 7.5 ± 0.8%, 58.1 ± 8.4 mmol/mol) were randomly assigned to participate in two overnight crossover periods, each including 6 weeks of consecutive nights: one under closed loop and the second under sensor-augme...