8 papers · 1 filter
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…
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…
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…
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…