This paper presents a novel and improved technique in manual control of flexible systems. Flexible systems, when subject to a rapid movement commanded by a human operator, exhibit severe oscillation, causing low positioning accuracy, high fatigue to the human operator, and unsafe accidents. Input shaping filter was proposed to reduce this oscillation by using the destructive interference princi...

An iterative learning control method for a single-link flexible manipulator is proposed to achieve precise tracking control and end-point vibration suppression of the system. The learning is done in a feedback configuration with hybrid control and the learning law updates the feedforward input from the error of the previous trial. The dynamic model of the flexible manipulator is derived using t...

In this paper, an MIMO boiler control problem of Benchmark PID 2012 is studied, and a multi-loop PID control system is designed by our data-driven loop-shaping method. Our method is applicable to non-minimum phase or time-delay SISO plants very easily especially for stable plants, and a good disturbance rejection can be attained with a specified stability margin. The boiler model has non-minimu...

We tried to explore the possibility of using deformation-based interaction as a new input method to remote control. We selected eight basic commands to control TV and design deformation-based gestures for each command based on prior studies regarding organic user interface. A prototype, the FlexRemote, was made and tested by informal user study. The study showed that the users have higher prefe...

This paper presents tracking control of a compliant XY nano-positioner using a transfigured loop-shaping H∞ (TLSH) control strategy, which is capable of achieving satisfied positioning performance. The employed compliant nano-positioner is featured with a symmetric 4-PP (P represents prismatic joint) structure in which four-bar flexures are designed as the prismatic joints, meanwhile two embedd...