Design guidelines for disturbance observer's filter in discrete time

Author(s):  
I. Godler ◽  
H. Honda ◽  
K. Ohnishi
1984 ◽  
Vol 17 (2) ◽  
pp. 857-862
Author(s):  
C.E. Rohrs ◽  
M. Athans ◽  
L. Valavani ◽  
G. Stein

Automatica ◽  
1984 ◽  
Vol 20 (5) ◽  
pp. 653-660 ◽  
Author(s):  
C.E. Rohrs ◽  
M. Athans ◽  
L. Valavani ◽  
G. Stein

Robotica ◽  
2017 ◽  
Vol 36 (4) ◽  
pp. 552-569 ◽  
Author(s):  
Amir Aminzadeh Ghavifekr ◽  
Amir Rikhtehgar Ghiasi ◽  
Mohammad Ali Badamchizadeh

SUMMARYThe possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as stability, passivity and time delays. Using discrete-time methods for a master-slave teleoperation system can simplify control implementation. Varieties of control schemes have been proposed for these systems and major concerns such as passivity, stability and transparency have been studied. Recently, unreliable communication networks affected by packet loss and variable transmission delays have been received much attention. Thus, it is worth considering discrete-time theories for bilateral teleoperation architectures, which are formulated on the same lines as the continuous-time systems. Despite the extensive amount of researches concerning continuous-time teleoperation systems, only a few papers have been published on the analysis and controller design for discrete bilateral forms. This paper takes into account the challenges for the discrete structure of bilateral teleoperation systems and notifies the recent contributions in this area. The effect of sampling time on the stability-transparency trade-off and the task performance is taken into consideration in this review. These studies can help to design guidelines to have better transparency and stable teleoperation systems.


1977 ◽  
Vol 99 (4) ◽  
pp. 313-315
Author(s):  
Bruce K. Colburn ◽  
Joseph S. Boland

Discretization of a popular continuous-time control algorithm is effected and an equivalent discrete-time identification law developed and compared to a published discrete identification algorithm developed from Lyapunov Theory. Results are compared as regards asymptotic stability as insured using Lyapunov theory. Some analysis and design guidelines are proposed as regards implementation and practical utility.


Methodology ◽  
2017 ◽  
Vol 13 (2) ◽  
pp. 41-60
Author(s):  
Shahab Jolani ◽  
Maryam Safarkhani

Abstract. In randomized controlled trials (RCTs), a common strategy to increase power to detect a treatment effect is adjustment for baseline covariates. However, adjustment with partly missing covariates, where complete cases are only used, is inefficient. We consider different alternatives in trials with discrete-time survival data, where subjects are measured in discrete-time intervals while they may experience an event at any point in time. The results of a Monte Carlo simulation study, as well as a case study of randomized trials in smokers with attention deficit hyperactivity disorder (ADHD), indicated that single and multiple imputation methods outperform the other methods and increase precision in estimating the treatment effect. Missing indicator method, which uses a dummy variable in the statistical model to indicate whether the value for that variable is missing and sets the same value to all missing values, is comparable to imputation methods. Nevertheless, the power level to detect the treatment effect based on missing indicator method is marginally lower than the imputation methods, particularly when the missingness depends on the outcome. In conclusion, it appears that imputation of partly missing (baseline) covariates should be preferred in the analysis of discrete-time survival data.


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