Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Feedback control systems01:26

Feedback control systems

533
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
533
Linear Approximation in Time Domain01:21

Linear Approximation in Time Domain

177
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
177
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

214
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
214
Open and closed-loop control systems01:17

Open and closed-loop control systems

1.2K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
1.2K
Controller Configurations01:22

Controller Configurations

203
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
203
PD Controller: Design01:26

PD Controller: Design

422
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
422

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Tetrahydrocurcumin Attenuates NaIO<sub>3</sub>-Induced Retinal Oxidative Injury via Suppression of NOX2-Derived ROS-Mediated Apoptosis.

Antioxidants (Basel, Switzerland)·2026
Same author

Intestinal fructose metabolism drives unsaturated fat absorption and synergizes with GLP-1 receptor agonism to promote weight loss.

bioRxiv : the preprint server for biology·2026
Same author

Feasibility of rearing broilers in open-sided houses for extended periods: impacts of feed withdrawal approaches on growth, carcass traits, and meat quality metrics.

Poultry science·2026
Same author

Discordance Between Self-Report and Performance-Based Measures Among At-Risk Older Adults: A Secondary Data Analysis.

The American journal of occupational therapy : official publication of the American Occupational Therapy Association·2026
Same author

Upper Arm to Upper Leg Length Ratio and Dyslipidemia: A Novel Application of a Fixed Skeletal Proportion Metric in a Nationally Representative U.S. Sample.

International journal of environmental research and public health·2026
Same author

Formative Evaluation of Safety and Usability of a Mixed-Reality Robot-Assisted Telerehabilitation System for Post-Stroke Upper-Limb Therapy.

Sensors (Basel, Switzerland)·2026

Related Experiment Video

Updated: Nov 3, 2025

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli
07:28

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli

Published on: August 2, 2016

7.4K

A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time

Brahim Brahmi1, Ibrahim El Bojairami1, Tanvir Ahmed2

  • 1Mechanical Engineering Department, McGill University, Montreal, QC H3A 0G4, Canada.

Micromachines
|June 2, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new controller for robots with uncertain dynamics and disturbances. The novel approach ensures high accuracy and fast error convergence, validated in rehabilitation tasks.

Keywords:
feedback linearizationsuper-twisting controltime delay estimationuncertain dynamics

More Related Videos

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.7K
Method to Measure Tone of Axial and Proximal Muscle
10:41

Method to Measure Tone of Axial and Proximal Muscle

Published on: December 14, 2011

17.8K

Related Experiment Videos

Last Updated: Nov 3, 2025

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli
07:28

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli

Published on: August 2, 2016

7.4K
A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study
06:58

A Structured Rehabilitation Protocol for Improved Multifunctional Prosthetic Control: A Case Study

Published on: November 6, 2015

9.7K
Method to Measure Tone of Axial and Proximal Muscle
10:41

Method to Measure Tone of Axial and Proximal Muscle

Published on: December 14, 2011

17.8K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Nonlinear Dynamics

Background:

  • Robotic systems often face challenges from nonlinear dynamics and external disturbances.
  • Existing control methods may struggle with chattering and slow convergence.
  • Accurate control is crucial for applications like robotic rehabilitation.

Purpose of the Study:

  • To develop a novel robust controller for robotic systems.
  • To address nonlinear uncertain dynamics and external disturbances effectively.
  • To enhance control accuracy and convergence speed.

Main Methods:

  • Utilized a modified super-twisting method combined with input/output feedback linearization.
  • Incorporated a time delay approach for improved stability.
  • Integrated a new reaching law to minimize chattering and ensure rapid convergence.

Main Results:

  • Demonstrated finite-time convergence of system errors using Lyapunov stability analysis.
  • The controller effectively limited the impact of uncertain dynamics and disturbances.
  • Achieved high performance and enhanced accuracy in experimental validation.

Conclusions:

  • The novel controller is highly effective for robotic systems with nonlinear uncertain dynamics.
  • The proposed control strategy shows significant potential for applications in rehabilitation robotics.
  • The controller ensures robust performance and fast error correction.