In this paper, an automatic gain control scheme is first proposed for analyses and designs of unity feedback control systems. The controlled system is a nonlinear feedback control system. The overall system is equivalent to a conventional automatic gain control loop with command tracking error input. Therefore, it gives good command tracking behaviour while keeping robust characteristic of the ...

A controller synthesis method is presented for closed-loop stability and asymptotic tracking of step input references with zero steady-state error. Integral-action is achieved in two design steps starting with any stabilizing controller and adding a PID-controller in a configuration that guarantees robust stability and tracking. The proposed design has integral-action integrity, where closed-lo...

The development of high performance controllers capable of dealing with both tracking control and disturbance rejection has attracted considerable attention. This paper investigates the twodegree-of-freedom control structures with a disturbance observer and command feedforward control, respectively, and presents a double-loop control structure. The proposed control structure allows intuitive an...

This paper considers output based tracking control for an experimental underactuated H-drive manipulator. This manipulator can be transformed into a so-called second-order chained form by a coordinateand feedback transformation. An observer is proposed to solve the output feedback problem for systems in second-order chained form. For the designed observer global stability of the closed loop sys...

This paper proposes a trajectory planning and tracking approach for bilinear systems that approximate weakly nonlinear systems, based on orthogonal functions and especially the use of operational integration and product matrices. These operational tools allow the conversion of a bilinear differential state equation into an algebraic one depending on initial and final conditions. Arranging and s...

In direct adaptive inverse control (DAIC), parameters of the controller are estimated directly in the feed-forward loop. In this paper, we propose a closed loop direct adaptive inverse control (CDAIC) scheme which improves tracking, error convergence, and disturbance rejection properties of DAIC. CDAIC is applicable to stable or stabilized, minimum or nonminimum phase linear plants. CDAIC and D...

Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time-varying communication delays and dynamically changing topologies. In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed-loop system when there exist multiple time-varying communication delays. In the case of cooperative attitude tracking, ...

We propose a new bit tracking loop for biphase signals which is implemented like the M A P optimal bit synchronizer by the sample-correlate-choose-largest algorithm except that the estimator is sampled and moved at most one sample each bit time. A mathematical Markovian model for analysis is used. The performance of the bit tracking loop, the mean square error of the jitter and the average acqu...