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—For fractional-order differentiator where is a real number, its discretization is a key step in digital implementation. Two discretization methods are presented. The first scheme is a direct re-cursive discretization of the Tustin operator. The second one is a direct discretization method using the Al-Alaoui operator via continued fraction expansion (CFE).(More)
—In this paper, the iterative learning control (ILC) literature published between 1998 and 2004 is categorized and discussed , extending the earlier reviews presented by two of the authors. The papers includes a general introduction to ILC and a technical description of the methodology. The selected results are reviewed, and the ILC literature is(More)
A new tuning method for proportional-integral-derivative (PID) controller design is proposed for a class of unknown, stable, and minimum phase plants. We are able to design a PID controller to ensure that the phase Bode plot is flat, i.e., the phase derivative w.r.t. the frequency is zero, at a given frequency called the "tangent frequency" so that the(More)
In this paper we study ᐉth-order ͑ᐉ ജ 3͒ consensus algorithms, which generalize the existing first-order and second-order consensus algorithms in the literature. We show necessary and sufficient conditions under which each information variable and its higher-order derivatives converge to common values. We also present the idea of higher-order consensus with(More)
Preface This monograph studies the design of robust, monotonically-convergent iterative learning controllers for discrete-time systems. Iterative learning control (ILC) is well-recognized as an efficient method that offers significant performance improvement for systems that operate in an iterative or repetitive fashion (e.g., robot arms in manufacturing or(More)
Over the past century technology has played a decisive role in defining, driving, and reinventing procedures, devices, and pharmaceuticals in healthcare. Cloud computing has been introduced only recently but is already one of the major topics of discussion in research and clinical settings. The provision of extensive, easily accessible, and reconfigurable(More)
This paper presents a frequency-domain analysis and design approach for a learning feedforward controller (LFFC) using a dilated B-spline network. The LFFC acts as an add-on element to the existing feedback controller (FBC). The LFFC signal is updated iteratively based on the FBC signal of the previous iteration as the task repeats. Similar to(More)