13 papers
Adaptive differentiating filter: case study of PID feedback control
Alexey Pavlov, Michael Ruderman
This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filt…
On Cauchy problem and stability of inversion-free feedforward control of piecewise monotonic Krasnoselskii-Pokrovskii hysteresis
Jana Kopfova, Michael Ruderman
We consider the non-homogeneous first-order differential equation with hysteresis described by the Krasnoselskii-Pokrovskii rate-independent hysteresis operator. Existence and uniq…
Model-free practical PI-Lead control design by ultimate sensitivity principle
Michael Ruderman
Practical design and tuning of feedback controllers has often to get by without a model of the dynamic process at hand. Only some general assumptions about the system dynamics, in…
Power-based control of output oscillations with online estimation of biased harmonics
Michael Ruderman, Denis Efimov
The recently introduced discrete power-based control (Ruderman (2024b)) reduces largely the communication efforts in the control loop when compensating for the marginally damped or…
Reduced-order asymptotic observer of nonlinear friction for precise motion control
Michael Ruderman
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables…
Inversion-free feed-forward and feedback control of MSM based actuator with large non-smooth input hysteresis
Michael Ruderman, Gianluca Giostra, Matteo Sette
Dynamic systems with a large and non-smooth hysteresis in the feedforward channel challenge the design of feedback control since the instantaneous input gain is varying during the…
Study of Frictional and Impact Transients in Active-Passive Mechanical Pair
Michael Ruderman, Francesco De Rito
We consider an active-passive mechanical pair in which the relative motion of the latter is constrained by the mechanical impact. The system dynamics is described by the previously…
Non-overshooting continuous in convergence sliding mode control of second-order systems
Michael Ruderman, Denis Efimov
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback contro…
Nonlinear integral extension of PID control with improved convergence of perturbed second-order dynamic systems
Michael Ruderman
Nonlinear extension of the integral part of a standard proportional-integral-derivative (PID) feedback control is proposed for perturbed second-order systems. The approach is model…
Power based adaptive compensator of output oscillations
Michael Ruderman
Power-based output feedback compensator for oscillatory systems is proposed. The average input-output power of an oscillatory signal serves as an equivalent control effort, while t…
Adaptive time delay based control of non-collocated oscillatory systems
Michael Ruderman
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped osc…
On convergence analysis of feedback control with integral action and discontinuous relay perturbation
Michael Ruderman
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the inte…
Super-twisting based sliding mode control of hydraulic actuator without velocity state
Manuel Estrada, Michael Ruderman, Leonid Fridman
This paper provides a novel surface design and experimental evaluation of a super-twisting algorithm (STA) based control for hydraulic cylinder actuators. The proposed integral sli…