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Conference Open access 2026

Minimum positioning-time for mechatronic systems

The paper considers a method for transferring the state of a dynamic system to a specified state for minimum positioning time (positioning servo systems, manipulators, walking robots). The system under consideration is described by a sampled-data model based on a first-order hold element. It is a first-designed feed-fo...

Vojislav Filipović, Vladimir Đorđević · 0 citations
Open access Aug 2026

Development of Fractional-Order Model Reference Adaptive Control of a Higher-Order Ball and Beam System with Actuator Dynamics

This study develops a fractional-order model reference adaptive controller (FOMRAC) for a higher-order balland-beam system in which actuator behaviour is explicitly represented. The experimental platform comprises a 0.60 m beam, a 2.7 g ball with a 20 mm radius, a Hitec HS-645MG servo, an Arduino UNO controller, and a...

S. Umar, N. A. Muhammad · 0 citations
Open access Sep 2026

Design and Implementation of an Advanced Control Algorithm for an Inverted Pendulum QUBE-Rotary Servo

The inverted pendulum represents a problem of considerable complexity in the field of systems control due to its unstable and nonlinear behavior. In this context, the objective of this research is to design and implement control algorithms for a QUBE-Rotary Servo inverted pendulum. The experimental system has voltage a...

Jessica S. Ortiz, Gabriela Guamán, Paola M. Velasco et al. · 0 citations
Open access Sep 2026

Disturbance Observer-based Model Predictive Control for a Twin Rotor MIMO System

This paper presents a disturbance observer–based model predictive control strategy for the position regulation of a twin rotor MIMO system (TRMS). The nonlinear dynamics of the TRMS are first rewritten as an uncertain linear time invariant (LTI) system with additive disturbances. An extended state observer (ESO) is the...

Nicolas Vite-Vargas, Omar Sandre Hernández, C. Cuvas-Castillo et al. · 0 citations
Open access Sep 2026

Experimental Modeling and Control of a DC Servo Motor Based on System Identification: A Comparative PID with Policy Iteration

Direct current (DC) servo motors are essential in industrial automation and robotics, where precise position and speed control are critical; however, they require high-performance control strategies. This study investigates an experimental framework for the modeling and control of a DC servo motor using system identifi...

Hassan Khalid Misbah, N. Alyazidi · 0 citations
Open access Sep 2026

Robust Control and Estimation Framework for Parallel Manipulators: A Comparative Study of Super-Twisting and Fractional-Order PID Strategies

This research investigates the problem of robust control of a nonlinear, fast-dynamics, high-precision planar manipulator with a limited workspace. Starting from a mathematical model formulated in terms of Euler-Lagrange dynamics, the proposed approach considers, given the limitations of the physical system, that some...

Florin Stîngă, M. Marian · 0 citations

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