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eess.SY2026
Exact PID and PI Gain Regions for Uncertain Non-Affine MIMO Systems
Cheng Zhao
Characterizing all PID gains that guarantee uniform exponential regulation of uncertain nonlinear systems remains a fundamental problem. Most existing results provide only sufficie…
cs.RO2026
On Global Regulatability of Robot Manipulators by Classical PID
Cheng Zhao, Jingru Zhu, Lei Guo
A long-standing open problem in robot manipulator control is whether global regulation can be achieved by classical PID control. This paper provides an answer to this question for…
eess.SY2026
Towards Guaranteed Optimal PID Tuning for Uncertain Nonlinear Systems
Jingru Zhu, Cheng Zhao, Lei Guo
Despite the widespread use of PID controllers in engineering practice, designing optimal PID parameters has long been regarded as a challenging problem in both theory and practice,…