The performance of a linear, discrete high performance track following controller in a hard disk drive is improved for its disturbance rejection by augmentation of a discrete non-linear, adaptive neural network (NN) element. The neural network element is deemed to be particularly effective for rejection of bias forces, such as friction. Theoretical and experimental results have been obtained. I...

In this paper, a new intelligent cruise control (ICC) system is designed to provide better transient performance than existing ones during traffic disturbances. Stability properties are established for a general variable time headway. Simulations with validated nonlinear vehicle model are conducted to demonstrate our analytical results. It is demonstrated that vehicles with the proposed ICC sys...

algebraic control design method whose objective is to easily obtain a good controller with minimum user effort. As a matter of fact, if a system model, in the form of linear differential equations, is known, the user only need to define a time-constant and the controller order. The later can be established regarding the expected disturbance type via a lookup table first published by Koksal and ...

In contrast with li, and 1-12 control theories, the problem of persistent disturbance rejection (1' optimal control) leads to dynamic controllers, even when the states of the plant are available for feedback. Using viability theory, it has recently been shown, in a nonconstructive way [li'], that in the state-feedback case, the same performance achieved by any dynamic linear time invariant cont...

This paper presents a novel nonlinear Internal Model Controller architecture that achieves linear rejection of input disturbances from the control signal. For a large class of SISO nonlinear systems, appropriate open loop stability properties guarantee closed loop tracking and disturbance rejection of asymptotically constant signals. The convenient tuning and improved performance is illustrated...

This paper proposes a new approach to solve the problem of designing optimal proportional-integral-derivative (PID) controllers that minimize an H2-norm associated with the set-point response while subjecting to an H∞-norm on the load disturbance rejection. The proposed design approach consists of constructing the feasible domain in the controller gain space and searching over the domain the op...

To achieve robust and stable legged locomotion in uneven terrain, animals must effectively coordinate limb swing and stance phases, which involve distinct yet coupled dynamics. Recent theoretical studies have highlighted the critical influence of swing-leg trajectory on stability, disturbance rejection, leg loading and economy of walking and running. Yet, simulations suggest that not all these ...

In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this d...

A set of tuning rules for Linear Active Disturbance Rejection Controller (LADRC) with three different levels compromise between disturbance rejection and robustness is presented. The are the result a Multiobjective Optimization Design (MOOD) procedure followed by curve fitting intended as tool designers who seek to implement LADRC considering load response processes whose behavior approximated ...