Signal transformation is a novel strategy employed in feedback control to reduce the impact of measurement noise on positioning accuracy. This chapter addresses robustness issues of the method with respect to output disturbance and uncertainty in plant low frequency gain. The robustness problems can be solved by an inner loop with integral action before incorporating the signal transformation m...

The severe low-speed creep phenomenon occurs in the telescopic boom system of a heavy-load transfer robot with a long telescopic boom as a result of nonlinear friction. In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integralderivative co...

This article addresses the issue of when to suppress or not to suppress the transmitted carrier in designing a coherent communication system employing a carrier tracking loop for carrier synchronization. Assuming that a phase-locked loop (PLL) is used whenever there exists a residual carrier and a Costas loop is used whenever the carrier is suppressed, the regions of system parameters that deli...

This paper develops repetitive and iterative learning control design and analysis for back stepping controlled nonlinear systems. To precisely track periodic or finite duration trajectories for nonlinear systems, back stepping control is first designed to render closed loop stability and, in theory, asymptotic tracking performance. However, due to the sensitivity to the unmodelled dynamics plan...

In this paper we obtain information theoretical conditions for tracking in linear time-invariant control systems. We consider the particular case where the closed loop contains a channel in the feedback loop. The mutual information rate between the feedback signal and the reference input signal is used to quantify information about the reference signal that is available for feedback. This mutua...

A novel feedback control method for robotic manipulators with random communication delays by combining the optimal P-type iterative learning control (ILC) idea with a minimum tracking error entropy control strategy is presented. The control design is formulated as an optimisation problem with a proper performance index and a constraint. In specific, the performance index implies the idea of the...

Abstract The usefulness of error-related potentials (ErrPs) for control in non-invasive Brain-Computer interface (BCI) research has been established over the last decades. To continuously correct erroneous action an end effector (e.g., robot arm) a BCI however, these neural correlates relating only to discrete perception errors remain problematic. Using pre-recorded dataset offering feedback 2D...

−In the paper you will implement a set point control system for the single-link manipulator with flexible joint using a multiloop controller based on feedback linearization (inner loop) and linear statefeedback control (outer loop). Then, you will modify the multiloop controller to solve a trajectory tracking problem. The simulations demonstrate that the multi-loop control law it is a viable me...