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| Main Author: | |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2511.21641 |
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| _version_ | 1866909015382949888 |
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| author | Ruderman, Michael |
| author_facet | Ruderman, Michael |
| contents | 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 this work type-one stable, can be available for engineers, for instance in motion control applications and many others. This paper proposes a practical and simple in realization procedure for designing a robust PI-Lead control without modeling. The developed method derives from the ultimate sensitivity principles, known in empirical Ziegler-Nichols tuning of PID controllers, and makes use of some general characteristics of the loop shaping. A three-steps procedure is proposed to determine the integration time constant, control gain, and Lead-element in a way to guarantee a sufficient phase margin, while all steps are served by only experimental monitoring of the output value. Proposed method is demonstrated and discussed with experiments accomplished on a noise-perturbed electro-mechanical actuator system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_21641 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Model-free practical PI-Lead control design by ultimate sensitivity principle Ruderman, Michael Systems and Control 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 this work type-one stable, can be available for engineers, for instance in motion control applications and many others. This paper proposes a practical and simple in realization procedure for designing a robust PI-Lead control without modeling. The developed method derives from the ultimate sensitivity principles, known in empirical Ziegler-Nichols tuning of PID controllers, and makes use of some general characteristics of the loop shaping. A three-steps procedure is proposed to determine the integration time constant, control gain, and Lead-element in a way to guarantee a sufficient phase margin, while all steps are served by only experimental monitoring of the output value. Proposed method is demonstrated and discussed with experiments accomplished on a noise-perturbed electro-mechanical actuator system. |
| title | Model-free practical PI-Lead control design by ultimate sensitivity principle |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.21641 |