Non-uniform sampling period of the discrete PID controller and its performance indexes in case of the FLHex robot leg

Author(s):  
Piotr Burzynski
2014 ◽  
Vol 536-537 ◽  
pp. 1244-1250
Author(s):  
Valery Goncharov ◽  
Andrey Liepinsh ◽  
Vadim Onufriev

The authors consider problem of an accurate system identification and reproduction of control objects output signal. Also, this paper offers a solution of a control objects transfer function determining task by its step response using the Real interpolation method. An ability of using non-uniform sampling period is a characteristic property of this approach. Numeric examples are shown. Also, an ability of more than half of signal samples omitting with, however, acceptable result is shown.


Author(s):  
Anna G. Matveeva ◽  
Victoria N. Syryamina ◽  
Vyacheslav M. Nekrasov ◽  
Michael K. Bowman

Non-uniform schemes for collection of pulse dipole spectroscopy data can decrease and redistribute noise in the distance spectrum for increased sensitivity and throughput.


Mathematics ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1262
Author(s):  
Sunil Kumar Mishra ◽  
Amitkumar V. Jha ◽  
Vijay Kumar Verma ◽  
Bhargav Appasani ◽  
Almoataz Y. Abdelaziz ◽  
...  

This paper presents an optimized algorithm for event-triggered control (ETC) of networked control systems (NCS). Initially, the traditional backstepping controller is designed for a generalized nonlinear plant in strict-feedback form that is subsequently extended to the ETC. In the NCS, the controller and the plant communicate with each other using a communication network. In order to minimize the bandwidth required, the number of samples to be sent over the communication channel should be reduced. This can be achieved using the non-uniform sampling of data. However, the implementation of non-uniform sampling without a proper event triggering rule might lead the closed-loop system towards instability. Therefore, an optimized event triggering algorithm has been designed such that the system states are always forced to remain in stable trajectory. Additionally, the effect of ETC on the stability of backstepping control has been analyzed using the Lyapunov stability theory. Two case studies on an inverted pendulum system and single-link robot system have been carried out to demonstrate the effectiveness of the proposed ETC in terms of system states, control effort and inter-event execution time.


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