Includes the top 50 most frequently accessed documents for this publication according to the usage statistics for the month of

  • Learning to control an inverted pendulum using neural networks

    Publication Year: 1989, Page(s):31 - 37
    Cited by:  Papers (280)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (776 KB)

    An inverted pendulum is simulated as a control task with the goal of learning to balance the pendulum with no a priori knowledge of the dynamics. In contrast to other applications of neural networks to the inverted pendulum task, performance feedback is assumed to be unavailable on each step, appearing only as a failure signal when the pendulum falls or reaches the bounds of a horizontal track. To... View full abstract»

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  • Neural networks for self-learning control systems

    Publication Year: 1990, Page(s):18 - 23
    Cited by:  Papers (494)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (672 KB)

    It is shown that a neural network can learn of its own accord to control a nonlinear dynamic system. An emulator, a multilayered neural network, learns to identify the system's dynamic characteristics. The controller, another multilayered neural network, next learns to control the emulator. The self-trained controller is then used to control the actual dynamic system. The learning process continue... View full abstract»

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  • Modeling of an internal combustion engine for control analysis

    Publication Year: 1988, Page(s):20 - 26
    Cited by:  Papers (69)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (572 KB)

    Recent activity in nonthermodynamic modeling of automotive internal combustion engines with spark ignition, which are inherently nonlinear, is reviewed. A fundamental nonlinear model of the engine is presented, and a linear control-oriented model is derived from the nonlinear process. Techniques for experimental verification are examined, and a practical linear engine example incorporating multira... View full abstract»

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  • History and development of dynamic programming

    Publication Year: 1984, Page(s):24 - 28
    Cited by:  Papers (24)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (609 KB)

    The development of DP (dynamic programming) is presented in a chronological order. Although it seems awkward, it does show that science never develops in a correct and straightforward fashion. It is only afterwards that a scientific development can be made logical and rational. The emphasis is placed on the actual development of DP and its interconnections with other basic areas, such as invariant... View full abstract»

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  • Survey of model-based failure detection and isolation in complex plants

    Publication Year: 1988, Page(s):3 - 11
    Cited by:  Papers (538)  |  Patents (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1090 KB)

    Techniques to detect and isolate failures in complex technological systems, such as sensor biases, actuator malfunctions, leaks, and equipment deterioration are surveyed. The methods are based on analytical redundancy afforded by a mathematical model of the system. The main components of such techniques are residual generation using the model, signature generation by statistical testing, and signa... View full abstract»

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  • Introduction to the linear algebraic method for control system design

    Publication Year: 1987, Page(s):36 - 42
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (705 KB)

    This tutorial article discusses some basic issues in the design of control systems. The concepts of well posedness and total stability are introduced to deal with noise and disturbance problems. The implementable transfer function is developed and is shown to solve completely pole-and-zero assignment and model matching problems. Two feedback configurations are introduced to realize the implementab... View full abstract»

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  • A multilayered neural network controller

    Publication Year: 1988, Page(s):17 - 21
    Cited by:  Papers (604)  |  Patents (40)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (543 KB)

    A multilayered neural network processor is used to control a given plant. Several learning architectures are proposed for training the neural controller to provide the appropriate inputs to the plant so that a desired response is obtained. A modified error-back propagation algorithm, based on propagation of the output error through the plant, is introduced. The properties of the proposed architect... View full abstract»

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  • Development and applications of multirate digital control

    Publication Year: 1983, Page(s):2 - 8
    Cited by:  Papers (66)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (678 KB)

    Multiple sample rate digital control systems are of prominent interest in current control research, development, and applications. Modern aerospace vehicles and systems are described by high-order dynamic models which typically include phenomena covering a wide range of characteristic frequencies and instrumentation measurements available at multiple rates. A multirate control structure allows the... View full abstract»

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  • Back-propagation neural networks for nonlinear self-tuning adaptive control

    Publication Year: 1990, Page(s):44 - 48
    Cited by:  Papers (122)  |  Patents (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (479 KB)

    A back-propagation neural network is applied to a nonlinear self-tuning tracking problem. Traditional self-tuning adaptive control techniques can only deal with linear systems or some special nonlinear systems. The emerging back-propagation neural networks have the capability to learn arbitrary nonlinearity and show great potential for adaptive control applications. A scheme for combining back-pro... View full abstract»

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  • A simple adaptive Smith-predictor for controlling time-delay systems: A tutorial

    Publication Year: 1983, Page(s):16 - 22
    Cited by:  Papers (15)  |  Patents (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (588 KB)

    This heuristic paper presents several simple techniques for analyzing the stability of time-delay systems. It explains the Smith predictor control scheme for time-delay systems and shows how errors in modeling the plant parameters can cause instability. Then an adaptive controller is added to the Smith predictor system; this pedagogical example offers a complete derivation of a simple adaptive con... View full abstract»

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  • Scheduling jobs with simple precedence constraints on parallel machines

    Publication Year: 1990, Page(s):34 - 40
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (856 KB)

    A methodology is presented for scheduling jobs on identical, parallel machines. Each job comprises a small number of operations that must be processed in a specified order. The objective is to minimize the total weighted quadratic tardiness of the schedule, subject to capacity and precedence constraints. The procedure presented is an efficient near-optimal method based on the Lagrangian relaxation... View full abstract»

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  • Hierarchical neural network model for voluntary movement with application to robotics

    Publication Year: 1988, Page(s):8 - 15
    Cited by:  Papers (253)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (948 KB)

    In order to control voluntary movements, the central nervous system must solve the following three computational problems at different levels: determination of a desired trajectory in the visual coordinates; transformation of the trajectory from visual coordinates to body coordinates; and generation of motor commands. Based on physiological information and previous models, computational theories a... View full abstract»

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  • Redefinition of the robot motion-control problem

    Publication Year: 1985, Page(s):18 - 25
    Cited by:  Papers (85)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (758 KB)

    The objective of this paper is a redefinition of the robot control problem, based on (1) realistic models for the industrial robot as a controlled plant, (2) end-effector trajectories consistent with manufacturing applications, and (3) the need for end-effector sensing to compensate for uncertainties inherent to most robotic manufacturing applications. Based on extensive analytical and experimenta... View full abstract»

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  • Use of neural networks for sensor failure detection in a control system

    Publication Year: 1990, Page(s):49 - 55
    Cited by:  Papers (81)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    The use of the back-propagation neural network for sensor failure detection in process control systems is discussed. The back-propagation paradigm and traditional fault detection algorithms such as the finite integral squared-error method and the nearest-neighbor method are discussed. The algorithm is applied to the internal model control structure for a first-order linear time-invariant plant sub... View full abstract»

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  • Adaptive control of flexible-joint manipulators

    Publication Year: 1989, Page(s):9 - 13
    Cited by:  Papers (88)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (565 KB)

    Under the assumption of weak joint elasticity, a singular perturbation argument is used to show that recent adaptive control results for rigid robots can be used to control flexible-joint robots provided a simple correction term is added to the control law to damp out the elastic oscillations at the joints. In this way, fundamental properties of rigid robot dynamics can be exploited to design adap... View full abstract»

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  • Computer aided modeling, analysis and design of control systems - A perspective

    Publication Year: 1983, Page(s):4 - 16
    Cited by:  Papers (45)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1305 KB)

    The paper summarizes experiences of development and use of interactive software for computer aided design of control systems. Different principles for interaction with users having wide ranges of experiences and knowledge are discussed. A comprehensive set of packages for modeling, identification, analysis, simulation, and design are described. Problems associated with structuring, portability, ma... View full abstract»

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  • Use of a rule-based system for process control

    Publication Year: 1988, Page(s):3 - 13
    Cited by:  Papers (165)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1393 KB)

    A rule-based, digital, closed-loop controller that incorporates fuzzy logic has been designed and implemented for the control of power on the 5-MW Massachusetts Institute of Technology (MIT) Research Reactor under both steady-state and transient conditions. A comparison is made of the rule-based and analytic approaches. Differences in the division of labor between plant engineers and control speci... View full abstract»

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  • Adaptive control of a single-link flexible manipulator

    Publication Year: 1990, Page(s):29 - 33
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (530 KB)

    A method for controlling single-link lightweight flexible manipulators is proposed. The objective is to control the tip position of the flexible manipulator in the presence of joint friction and changes in payload. Both linear and nonlinear frictions are overcome by using a very robust control scheme for flexible manipulators. The control scheme is based on two nested feedback loops: an inner loop... View full abstract»

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  • Introduction to neural networks for intelligent control

    Publication Year: 1988, Page(s):3 - 7
    Cited by:  Papers (72)  |  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (524 KB)

    Neural network architecture is presented as one approach to the design and implementation of intelligent control systems. Neural networks can be considered as massively parallel distributed processing systems with the potential for ever-improving performance through dynamical learning. The nomenclature and characteristics of neural networks are outlined. Two simple examples are presented to illust... View full abstract»

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  • Application of generalized predictive control to industrial processes

    Publication Year: 1988, Page(s):49 - 55
    Cited by:  Papers (150)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (684 KB)

    A novel algorithm called generalized predictive control (GPC) is shown to be particularly effective for the self-tuning control of industrial processes. The method uses long-range predictive control ideas with a carefully chosen controlled autoregressive and integrated moving average (CARMA) plant model and various horizons that allow for a rich variety of control objectives. The procedure can ada... View full abstract»

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  • Introduction to dynamic models for robot force control

    Publication Year: 1987, Page(s):48 - 52
    Cited by:  Papers (72)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (533 KB)

    Endpoint compliance strategies for precise robot control utilize feedback from a force sensor located near the tool/ workpiece interface. The closed-loop performance of such endpoint force control systems has been observed in the laboratory to be limited and unsatisfactory for industrial applications. This article discusses the particular dynamic properties of robot systems that can lead to instab... View full abstract»

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  • Feedforward and feedback control of a flexible robotic arm

    Publication Year: 1990, Page(s):9 - 15
    Cited by:  Papers (17)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (633 KB)

    Feedforward and feedback control strategies are applied to a servo-driven flexible structure and studied by time-domain computer simulations. Simulation results are compared to the results of experimental runs on a flexible arm apparatus. The most accurate and stable responses of the arm are obtained by adding corrective terms to the command signals when position feedback is taken only from the se... View full abstract»

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  • Stability analysis of power systems by Lyapunov's direct method

    Publication Year: 1989, Page(s):23 - 27
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (596 KB)

    The Lyapunov direct method is on the verge of being implemented for assessment of online dynamic security. The main bottleneck has been in the proper characterization of the stability boundary and defining the fault-dependent region of attraction locally around the controlling unstable equilibrium points. Now there is a better understanding of this issue, and hence, a number of algorithms have bee... View full abstract»

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  • Model reference adaptive control of a direct-drive DC motor

    Publication Year: 1989, Page(s):80 - 84
    Cited by:  Papers (27)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (488 KB)

    An adaptive time-optimal position controller for a direct-drive DC motor with a design based on the model reference adaptive approach is presented. The high-acceleration torque of DC motors with permanent magnets permits direct coupling of the load to the motor axis, avoiding the use of a transmission with its inherent disadvantages (such as backlash and friction). However, direct coupling induces... View full abstract»

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  • Design of turning control for a tracked vehicle

    Publication Year: 1990, Page(s):122 - 125
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (347 KB)

    The design of a turning control system for an M113 tracked vehicle, which is modeled as a two-input/two-output system, is treated. Since the vehicle model is nonlinear, time varying, and implicit, it is replaced by a set of linear time-invariant models that are valid over certain operation regions. The two inputs to the vehicle are throttle and steering. The two measured output variables are the v... View full abstract»

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  • The adaptive suspension vehicle

    Publication Year: 1986, Page(s):7 - 12
    Cited by:  Papers (49)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (646 KB)

    This paper provides a description of the Adaptive Suspension Vehicle. The vehicle uses a legged, rather than a wheeled or tracked, locomotion principle, and is intended to demonstrate the feasibility of systems of this type for transportation in very rough terrain conditions. The vehicle is presently under test, with installation and validation of software modules for different operational conditi... View full abstract»

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  • Active vibration control of a simply supported beam using a spatially distributed actuator

    Publication Year: 1987, Page(s):25 - 30
    Cited by:  Papers (54)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (574 KB)

    The application of a spatially shaped distributed actuator for the vibration control of a simply supported beam is studied both analytically and experimentally. The actuator consists of a layer of polyvinylidene fluoride (PVF2) bonded to one face of the beam. A summary of the underlying theory is presented, with emphasis on how controllability requirements affect the choice of the film'... View full abstract»

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  • Assessment of air-to-air missile guidance and control technology

    Publication Year: 1989, Page(s):27 - 34
    Cited by:  Papers (94)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1027 KB)

    Current air-to-air missile guidance and control technology is assessed. Areas explored include target state estimation, advanced guidance laws, and bank-to-turn autopilots. The assumptions, benefits, and limitations of recent applications of nonlinear filtering, adaptive filtering, modern control, adaptive control, dual control, differential game theory, and modern control design techniques to the... View full abstract»

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  • A control theoretic model of driver steering behavior

    Publication Year: 1990, Page(s):3 - 8
    Cited by:  Papers (100)  |  Patents (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (576 KB)

    Following well-established feedback control design principles, a control theoretic model of driver steering behavior is presented. While accounting for the inherent manual control limitations of the human, the compensation dynamics of the driver are chosen to produce a stable, robust, closed-loop driver-vehicle system with a bandwidth commensurate with the demands of the driving task being analyze... View full abstract»

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  • Manipulation and dynamic mechanical testing of microscopic objects using a tele-micro-robot system

    Publication Year: 1990, Page(s):3 - 9
    Cited by:  Papers (30)  |  Patents (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1011 KB)

    A microrobot having two high-performance parallel drive limbs which has been developed for manipulation, surgery, and dynamic mechanical testing of very small objects such as single living cells is described. The end points of each limb move in overlapping spherical workspaces of 1-mm diameter with minimum open- and closed-loop movements of 1 nm and 10 nm, respectively. The displacement bandwidth ... View full abstract»

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  • A historical review of robust control

    Publication Year: 1987, Page(s):44 - 47
    Cited by:  Papers (50)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (486 KB)

    A historical review of recent results in robust control is presented. The robust control problem, i.e., the problem of designing accurate control systems in the presence of significant plant uncertainties, is classical. However, over the past 15 years, significant new theory has been developed for the solution of this problem, especially with respect to linear multivariable systems characterized i... View full abstract»

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  • Digital control of repetitive errors in disk drive systems

    Publication Year: 1990, Page(s):16 - 20
    Cited by:  Papers (208)  |  Patents (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (525 KB)

    Tracking errors in disk drive systems have a significant repetitive component that is not explicitly taken into account in conventional servo controllers. A modified prototype repetitive controller is applied as a plug-in module to a Winchester disk drive with a preexisting analog feedback controller to demonstrate its efficacy in the reduction of this periodic component. A review of the Wincheste... View full abstract»

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  • Trajectory control of a multi-axes robot with electrical servo drives

    Publication Year: 1990, Page(s):3 - 9
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (708 KB)

    The need for high accuracy combined with speed of response in the control of multi-axes robots is discussed. Work at the author's laboratory is reviewed, showing how the requirements can be met with a combination of microelectronic components in the form of a modular microcomputer system. The discussion addresses robot control with geared servo drives, and cascade control, the reference trajectory... View full abstract»

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  • Putting physics in control-the example of robotics

    Publication Year: 1988, Page(s):12 - 18
    Cited by:  Papers (68)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (611 KB)

    It is argued that scalar summarizing properties, such as energy conservation or entropy production, often can be used effectively in the design of controllers for multi-input nonlinear physical systems. For instance, the conservation of total mechanical energy allows one to show simply the stability of simple proportional-derivative position controllers for robot manipulators, and it can also be s... View full abstract»

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  • Robust design of cascade control

    Publication Year: 1990, Page(s):21 - 25
    Cited by:  Papers (16)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (558 KB)

    A design concept for cascade control that ensures enhanced robustness by minimizing the mutual influence among the cascaded loops is proposed. This is achieved by complete decoupling of the design and performance of two (or more) cascaded control loops. The decoupling applies not only to static aspects (windup and saturations) but also to possible degradation of dynamic performance. The practical ... View full abstract»

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  • Neural networks for system identification

    Publication Year: 1990, Page(s):31 - 35
    Cited by:  Papers (118)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (485 KB)

    Two approaches are presented for utilization of neural networks in identification of dynamical systems. In the first approach, a Hopfield network is used to implement a least-squares estimation for time-varying and time-invariant systems. The second approach, which is in the frequency domain, utilizes a set of orthogonal basis functions and Fourier analysis to construct a dynamic system in terms o... View full abstract»

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  • A comparison between CMAC neural network control and two traditional adaptive control systems

    Publication Year: 1990, Page(s):36 - 43
    Cited by:  Papers (93)  |  Patents (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (715 KB)

    A comparison is made of a neural-network-based controller similar to the cerebellar model articulation controller (CMAC) and two traditional adaptive controllers, a self-tuning regulator (STR) and a Lyapunov-based model reference adaptive controller (MRAC). The three systems are compared conceptually and through simulation studies on the same low-order control problem. Results are obtained for the... View full abstract»

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  • A linear dynamic model for flexible robotic manipulators

    Publication Year: 1987, Page(s):61 - 64
    Cited by:  Papers (88)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (397 KB)

    The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid-body motions, as well as the flexural vibrations. This paper describes a linear state-space model for a single-link flexible manipulator and compares si... View full abstract»

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  • Control system design benchmark problem

    Publication Year: 1987, Page(s): 19
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (115 KB)

    First Page of the Article
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  • A view of automotive control systems

    Publication Year: 1988, Page(s):11 - 19
    Cited by:  Papers (12)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (872 KB)

    Some current applications for engine control are described. Advanced control schemes for future nonlinear, time-varying automotive systems are discussed. Representative examples for plant modeling, parameter and state estimation, and adaptive control are presented.<> View full abstract»

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  • Mobile robot control by a structured hierarchical neural network

    Publication Year: 1990, Page(s):69 - 76
    Cited by:  Papers (56)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (759 KB)

    A mobile robot whose behavior is controlled by a structured hierarchical neural network and its learning algorithm is presented. The robot has four wheels and moves about freely with two motors. Twelve sensors are used to monitor internal conditions and environmental changes. These sensor signals are presented to the input layer of the network, and the output is used as motor control signals. The ... View full abstract»

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  • Microcomputer speed control of stepper motor

    Publication Year: 1982, Page(s):17 - 20
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (356 KB)

    This paper describes the application of a microcomputer as a programmed speed control for a stepper motor. The microcomputer is used as a variable frequency square wave generator, and a digital driving circuit is designed to transform the square wave into a useful sequential driving waveform. The digital driving circuit, speed control program, and computation of motor speed are explained in detail... View full abstract»

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  • Digital control laboratory courses

    Publication Year: 1989, Page(s):10 - 13
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (461 KB)

    A description is given of two Stanford University courses of one-quarter (10 weeks) each, covering the material of digital control of dynamic systems, by the authors. The courses have neither homework nor exams but are based on laboratories using IBM PC computers with locally designed and constructed analog plants. Rather formal reports are also required covering the seven laboratories in the two ... View full abstract»

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  • Using bicycles to teach system dynamics

    Publication Year: 1989, Page(s):4 - 9
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (614 KB)

    The author reports on an innovative approach, based on open-ended design questions related to bicycles, for the teaching of dynamic systems concepts in an undergraduate mechanical engineering environment. He outlines needs for improved classroom learning, pedagogical methods and underlying philosophy, how the bicycle was introduced as a main portion of the instruction, how the class was managed, s... View full abstract»

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  • Associative memories via artificial neural networks

    Publication Year: 1990, Page(s):6 - 17
    Cited by:  Papers (144)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1294 KB)

    Several design techniques that can be used for continuous-time and discrete-time neural networks to realize associative memories are presented. Associative memory is discussed, and neural network models are presented. Some stability concepts are outlined. The applicability of these techniques is demonstrated by means of specific examples that illustrate strengths and weaknesses.<> View full abstract»

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  • A control perspective on recent trends in manufacturing systems

    Publication Year: 1986, Page(s):3 - 15
    Cited by:  Papers (68)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1654 KB)

    First Page of the Article
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  • Development of fuzzy algorithms for servo systems

    Publication Year: 1989, Page(s):65 - 72
    Cited by:  Papers (285)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (702 KB)

    Consideration is given to the possibility of applying fuzzy algorithms in a microprocessor-based servomotor controller, which requires faster and more accurate response compared with other industrial processes. The performance of proportional-integral-derivative control, model reference adaptive control, and fuzzy controllers is compared in terms of steady-state error, settling time, and response ... View full abstract»

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  • Parameter learning for performance adaptation

    Publication Year: 1990, Page(s):3 - 11
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (821 KB)

    A parameter learning method is introduced and used to broaden the region of operability of the adaptive control system of a flexible space antenna. The learning system guides the selection of control parameters in a process leading to optimal system performance. A grid search procedure is used to estimate an initial set of parameter values. The optimization search procedure uses a variation of the... View full abstract»

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  • Modeling chemical process systems via neural computation

    Publication Year: 1990, Page(s):24 - 30
    Cited by:  Papers (142)  |  Patents (14)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (697 KB)

    The use of neural nets for modeling nonlinear chemical systems is discussed. Three cases are considered: a steady-state reactor, a dynamic pH stirred tank system, and interpretation of biosensor data. In all cases, a back-propagation net is used successfully to model the system. One advantage of neural nets is that they are inherently parallel and, as a result, can solve problems much faster than ... View full abstract»

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  • Automated robotic deburring using impedance control

    Publication Year: 1988, Page(s):21 - 25
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (605 KB)

    An automated deburring procedure using a robot manipulator is considered for the removal of burrs in the presence of robot oscillations and bounded uncertainties in the tool holder. Electronic compliancy (impedance control) is proposed as an adaptive mechanism to satisfy the requirements of this application. The development and implementation of the impedance control methodology on an active end-e... View full abstract»

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This Magazine ceased publication in 1990. The current retitled publication is IEEE Control Systems.

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