10 papers
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…
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…
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…
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…
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…