The paper provides general insight into the analog systems diagnostics architecture. Automation of the wavelet transform de-noising procedure is presented. Decision trees based fuzzy logic decision making module for single and multiple fault detection of the 4th order servomechanism is described. The factor for assessment of the diagnostic quality considering limited size of the learning data s...

In this paper, we derive a “hamiltonian formalism” for a wide class of mechanical systems, including classical hamiltonian systems, nonholonomic systems, some classes of servomechanism... This construction strongly relies in the geometry characterizing the different systems. In particular, we obtain that the class of the so-called algebroids covers a great variety of mechanical systems. Finally...

A robot joint with two hydraulic actuators, one being redundant, is described. Two methods are proposed for allocating actuation e ort in terms of the solutions of minimum-norm problems. In each case, a particular physical interpretation is given. A robust pid controller derived from robust servomechanism theory and a robust controller based on the H1-optimal sensitivity minimization method are...

This paper attempts to achieve time-optimal performance for servomechanisms via a practical feedback control law. An improvement over the traditional Proximate Time Optimal Servomechanism (PTOS) is proposed in order to eliminate the conservatism present in the controller. The original PTOS switches from the nonlinear approximation of Time Optimal Control (TOC) to a linear controller as the syst...