This study considers about the 2 degree-offreedom (2DOF) nonlinear controller. The proportionalintegral-derivative (PID) controllers have been widely used in many process systems. There are broadly-divided two design methods. One is a model-based controller design that tunes PID parameters based on a system model. The other is a dataoriented controller design that tunes these parameters by usin...

Abstract: This paper proposes proportional-integral/proportional gain controller parameter tuning in a two-degrees-of-freedom (2DOF) control system using the fictitious reference iterative tuning (FRIT) method for permanent magnet synchronous motor (PMSM) speed control using a field-programmable gate array (FPGA) for a high-frequency SiC MOSFET (metal oxide semiconductor field-effect transistor...

Abstract: This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinem...

This paper designs the central finite-dimensional H∞ filter for linear stochastic systems with integralquadratically bounded deterministic disturbances, that is suboptimal for a given threshold γ with respect to a modified BolzaMeyer quadratic criterion including the attenuation control term with the opposite sign. The original H∞ filtering problem for a linear stochastic system is reduced to t...