A closed-loop balanced truncation technique has been applied to an integral-type optimal servomechanism (IOS) expressed in graph-operator form of normalized right coprime factorization to produce a reduced-size state-feedback gain matrix, which is then converted into proportional-derivative (PD) gain matrices. On the other hand, the states of the integral of control error in the IOS are not tru...

The simple multi-period repetitive control system proposed by Yamada and Takenaga is a type of servomechanism for a periodic reference input. That is, the simple multi-period repetitive control system follows the periodic reference input with a small steady state error, even if a periodic disturbance or uncertainty exists in the plant. In addition, simple multi-period repetitive control systems...

In a modern large-capacity magnetic hard disk drive (HDD), both fast track seeking and perfect positioning of the read/write head are required. Mode switching control (MSC) approaches are widely used to meet these requirements. This paper proposes a new approach in designing MSC with an application to HDD servo systems. The proposed scheme uses a proximate time-optimal servomechanism in the tra...

In this work, we propose a control strategy by state convergence applied to bilateral control of a nonlinear teleoperator system with constant delay. The bilateral control of the teleoperator system considers the case when the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stabil...

This paper presents a high performance real-time simulator for power electronic systems applications and primarily intended for controller hardware-in-the-loop (CHIL) testing. The novelty of the proposed simulator resides in the massively parallel hardware architecture that efficiently exploits fine-grained parallelism without imposing severe communication overhead time that can limit the perfo...