Related Experiment Video
Updated: Oct 11, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
A Novel Parallel Control Method for Continuous-Time Linear Output Regulation With Disturbances
Abstract:
In this article, a novel linear parallel control method is developed for output regulation problems with disturbances. The traditional feedback regulators are passive regulation methods. In order to solve this problem, the parallel controllers are presented, where the time variation of the control is constructed instead of the control value itself, to stabilize the output of the system. The main contributions of the developed method include two aspects: 1) a novel parallel regulator structure is presented, which can provide greater flexibility comparing with traditional methods and 2) the necessary and sufficient conditions for the existence of parallel regulators are analyzed. First, the structure of the linear parallel regulators is provided. Next, considering the situations that the full system information is obtained and the information of error is obtained, respectively, the properties of the parallel regulators are analyzed, and the regulator designs for the two situations are provided. Finally, numerical examples are provided to verify the correctness of the present method.
Related Concept Videos
Time-Domain Interpretation of PD Control
Consider the example of control of motor torque. Initially, a positive...
PD Controller: Design
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Feedback control systems
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...
Control Systems
At the heart...
Parallel RLC Circuits
A simplified parallel RLC circuit model with a DC input source generating a step response is employed in this context. When the switch is turned on, Kirchhoff's current law is applied, leading to a second-order differential equation.
PI Controller: Design

