A comprehensive tutorial on state feedback control and state-space design for control systems. Covers pole placement, LQR optimal regulators, integral-type servo systems, LMI-based design, observer-based feedback with the separation princi…
The 2-DOF conditional feedback structure is the structural origin of MEC. Setting T = P_M yields MEC, which is equivalent to 2-DOF control for linear systems with feedforward input. MEC extends further to non-minimum-phase and nonlinear sy…
Structural comparison of Internal Model Control (IMC) and Model Error Compensator (MEC). Both use the plant-model output difference, but IMC designs the controller while MEC adds robustness to existing systems.
A survey of Model Error Compensator (MEC) research by independent groups worldwide. Covers applications to quadcopters, teleoperation, underwater robots, power electronics, data-driven tuning with FRIT and Smart MBD, and theoretical analys…
Apply the Model Error Compensator (MEC) to nonlinear systems for robust feedback linearization. Unlike standard feedback linearization, MEC does not require exact model knowledge or full state measurement. The output-feedback structure ach…
How to apply the Model Error Compensator (MEC) to non-minimum phase systems using a parallel feedforward compensator. Non-minimum phase plants have unstable zeros that prevent standard high-gain compensation. The PFC approach resolves this…
Learn how to add robustness to existing PID control systems using the Model Error Compensator (MEC). MEC is a simple add-on compensator that suppresses the effect of model uncertainty and parameter variations without modifying the PID cont…
A tutorial on classical parametric system identification. Explains ARX, ARMAX, Output-Error, and Box-Jenkins model structures, the prediction error method (PEM) for parameter estimation, model order selection, and MATLAB implementation. In…
A tutorial on subspace identification methods for control systems. Explains N4SID, MOESP, and CVA algorithms, model order selection via SVD, and MATLAB implementation. Includes connections to multirate and LPTV system identification resear…
A comprehensive guide to system identification in control engineering. Covers parametric methods, subspace identification (N4SID), kernel-based estimation, multirate systems, and data-driven control. With MATLAB code and links to research …
A detailed comparison between Model Error Compensator (MEC) and Disturbance Observer (DOB) for robust control. Covers structural differences, inverse model requirements, applicability to non-minimum phase and nonlinear systems, and practic…
A comprehensive guide to the H-infinity filter for robust state estimation. Covers the worst-case optimization formulation, LMI-based design with Bounded Real Lemma, comparison with Kalman filter, pole placement constraints, and extensions…
A comprehensive guide to the Kalman filter for state estimation. Covers the prediction-update algorithm, steady-state Kalman filter, Kalman-Bucy filter, tuning of Q and R, Extended and Unscented Kalman filters, and multi-rate Kalman filter…
A comprehensive guide to state observers and state estimation in control systems. Covers Luenberger observers, Kalman filters, H-infinity filters with LMI design, multi-rate state estimation, and outlier-robust MCV observers. Includes link…
Estimation of robust invariant set for discrete-time switched linear systems with peak-bounded disturbances. A novel method combining recursive state updating and robust invariant ellipsoid achieves less conservative estimation.
