Dissertations / Theses on the topic 'Model Following Control'
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Durham, Wayne. "Contributions to model following control theory." Diss., Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/54349.
Full textPh. D.
Barlas, Mustafa Remzi. "Model-following control applications to nonlinear mechanical systems." Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-10312009-020202/.
Full textSilva, André Luís da. "Nonlinear optimum model following control of flexible aircraft." Instituto Tecnológico de Aeronáutica, 2010. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1099.
Full textKress, Reid Leonard. "Adaptive model-following control for hyperthermia treatment systems." Diss., The University of Arizona, 1988. http://hdl.handle.net/10150/184430.
Full textTang, Shiming. "Adaptive model following control for the robotics manipulator - PUMA 560." Ohio University / OhioLINK, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1182871986.
Full textHicks, Dawn L. "Optimal design of digital model-following systems." Thesis, University of Salford, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.284423.
Full textRÖING, JACOB, and CARL JENSEN. "Modelling and design of PMSM position drivesusing model following control." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-299844.
Full textTeenage Engineering är ett svenskt elektronikföretag som avser att automatisera kvalitetskontrollen av deras produkter. Av denna anledning vill företaget utveckla en fixtur med möjligheten att genomföra taktila tester på deras produkter. Detta examensarbete undersöker utvecklingsprocessen av en positionskontroller för en synkronmotor med permanenta magneter (PMSM). Fixturen kommer att använda synkronmotorer med permanenta magneter (PMSM) för att styra positionen av delen som interagerar med produkten som ska testas. Studien genomfördes i två huvudfaser. Först och främst utvecklades en simulering i MATLAB/Simulink av positionskontrollern. Kontrollern använder sig av vektorbaseradkontroll (FOC) för att minska hastighetsvariationer samt modellbaserad kontroll i syfte att positionsstyra motorn. Därefter designades en motorkontrollenhet (MCU) med alla nödvändiga komponenter för att implementera den simulerade kontrollern. Studien visade att hög precision av positionsstyrning kan åstadkommas med hjälp av modellbaserad kontroll i simulering. Studien understryker också viktiga avvägningar i designprocessen av en motorkontrollenhet för PMSM motorer. En del av funktionaliteten på motorkontrollenheten testades, men mer testning krävdes för att bedöma positionskontrollerns prestation i att styra motorn. De delarna som testades på motorkontrollenheten var pulsbreddsmodulering (PWM), analog till digital konvertering (ADC), strömavläsning samt vinkelavläsning via halleffektsensorn. Dock behövdes mer testning för att fullständigt kunna verifiera MCUn.
Lapp, Tiffany Rae 1979. "Guidance and control using model predictive control for low altitude real-time terrain following flight." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/30278.
Full textIncludes bibliographical references (p. 123-125).
This thesis presents the design and implementation of a model predictive control based trajectory optimization method for Nap-of-the-Earth (NOE) flight. A NOE trajectory reference is generated over a subspace of the terrain. It is then inserted into the cost function and the resulting trajectory tracking error term is weighted for more precise longitudinal tracking than lateral tracking through the introduction of the TF/TA ratio. The TF/TA ratio, control effort penalties and MPC prediction horizon are tuned for this application via simulation and eigenvalue analysis for stability and performance. Steps are taken to reduce complexity in the optimization problem including perturbational linearization in the prediction model generation and the use of control basis functions which are analyzed for their trade-off between approximation of the optimal cost/solution and reduction of the optimization complexity. Obstacle avoidance including preclusion of ground collision is accomplished through the establishment of hard state constraints. These state constraints create a 'safe envelope' within which the optimal trajectory can be found. Results over a variety of sample terrains are provided to investigate the sensitivity of tracking performance to nominal velocities. The mission objective of low altitude and high speed was met satisfactorily without terrain or obstacle collision, however, methods to preclude or deal with infeasibility must be investigated as terrain severity (measured by commanded flight path angle) is increased past 30 degrees or speed is increased to and past 30 knots.
by Tiffany Rae Lapp.
S.M.
Costa, Giuseppe Electrical Engineering & Telecommunications Faculty of Engineering UNSW. "Robust Control For Gantry Cranes." Awarded by:University of New South Wales. Electrical Engineering and Telecommunications, 1999. http://handle.unsw.edu.au/1959.4/17609.
Full textFlood, Cecilia. "Real-time Trajectory Optimization for Terrain Following Based on Non-linear Model Predictive Control." Thesis, Linköping University, Department of Electrical Engineering, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1136.
Full textThere are occasions when it is preferable that an aircraft flies asclose to the ground as possible. It is difficult for a pilot to predict the topography when he cannot see beyond the next hill, and this makes it hard for him to find the optimal flight trajectory. With the help of a terrain database in the aircraft, the forthcoming topography can be found in advance and a flight trajectory can be calculated in real-time. The main goal is to find an optimal control sequence to be used by the autopilot. The optimization algorithm, which is created for finding the optimal control sequence, has to be run often and therefore, it has to be fast.
This thesis presents a terrain following algorithm based on Model Predictive Control which is a promising and robust way of solving the optimization problem. By using trajectory optimization, a trajectory which follows the terrain very good is found for the non-linear model of the aircraft.
Human, Gerhardus. "Model based predictive control for load following of a pressurised water reactor / Gerhardus Human." Thesis, North-West University, 2009. http://hdl.handle.net/10394/4017.
Full textThesis (M.Ing. (Nuclear Engineering))--North-West University, Potchefstroom Campus, 2010.
Cavatassi, Jacopo. "Path Following Control of an Agricultural Skid-Steering Robot: An MPC Approach." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
Find full textBöck, Martin [Verfasser]. "Model Predictive and Flatness-based Path Following Control and Manifold Stabilization with Applications / Martin Böck." Aachen : Shaker, 2016. http://d-nb.info/1118258584/34.
Full textCarneiro, Gustavo Lima. "Model based predictive control applied to the aircraft longitudinal mode for a terrain following task." Instituto Tecnológico de Aeronáutica, 2009. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=1228.
Full textGwayi, Isaac. "Rollover prevention and path following of a scaled autonomous vehicle using nonlinear model predictive control." Master's thesis, Faculty of Engineering and the Built Environment, 2018. http://hdl.handle.net/11427/30054.
Full textMörhed, Joakim, and Filip Östman. "Automatic Parking and Path Following Control for a Heavy-Duty Vehicle." Thesis, Linköpings universitet, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-144496.
Full textHall, Sarah Elizabeth. "Model following control strategies and human interface techniques for the treatment of time delay during teleoperation." College Park, Md. : University of Maryland, 2004. http://hdl.handle.net/1903/2064.
Full textThesis research directed by: Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
Welch, Torrence David Jesse. "A feedback model for the evaluation of the adaptive changes to temporal muscle activation patterns following postural disturbance." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/29674.
Full textCommittee Chair: Ting, Lena; Committee Member: Chang, Young-Hui; Committee Member: Nichols, T. Richard; Committee Member: Schumacher, Eric; Committee Member: Thoroughman, Kurt. Part of the SMARTech Electronic Thesis and Dissertation Collection.
Kazim, Khalid J. [Verfasser]. "Towards a unified approach for path-following and force-feedback using nonlinear model predictive control / Khalid J. Kazim." Magdeburg : Universitätsbibliothek, 2017. http://d-nb.info/1130704343/34.
Full textAksaray, Derya. "Autonomous Hopping Rotochute." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39578.
Full textMatimba, Tawanda Arnold Daniel. "A thermo-hydraulic model of the inventory control system for load following in the PBMR / Tawanda Arnold Daniel Matimba." Thesis, North-West University, 2004. http://hdl.handle.net/10394/478.
Full textThesis (M.Ing. (Mechanical Engineering))--North-West University, Potchefstroom Campus, 2005.
Adams, Christopher James. "Modeling and control of helicopters carrying suspended loads." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44852.
Full textKarlsson, Mattias, and Sebastian Johansson. "Evaluation of Traction Control Systems for an Electric Forklift Truck." Thesis, Linköpings universitet, Fordonssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-176552.
Full textSabatani, Emanuele. "Thermal Modeling and Control of a Capsule Welding Machine." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
Find full textDodsworth, Joel Andrew. "The application of vehicle classification, vehicle-to-infrastructure communication and a car-following model to single intersection traffic signal control." Thesis, University of Leeds, 2018. http://etheses.whiterose.ac.uk/22741/.
Full textDardis, Christina M. "An Integrative Theory Analysis of Real-Life and Cyber Unwanted Pursuit Perpetration Following Relationship Break-Up." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1400764792.
Full textFurieri, Luca. "Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/11872/.
Full textKrupiński, Szymon. "Suivi des structures offshore par commande référencée vision et multi-capteurs." Thesis, Nice, 2014. http://www.theses.fr/2014NICE4051.
Full textThis thesis deals with a control system for a underwater autonomous vehicle given a two consequent tasks: following a linear object and stabilisation with respect to a planar target using an on-board camera. The proposed solution of this control problem takes advantage of a cascading nature of the system and divides it into a velocity pilot control and two visual servoing schemes. The serving controllers generate the reference velocity on the basis of visual information; line following is based on binormalized Pluecker coordinates of parallel lines corresponding to the pipe contours detected in the image, while the stabilisation relies on the planar homography matrix of observed object features, w.r.t. the image of the same object observed at the desired pose. The pilot, constructed on the full 6 d.o.f. nonlinear model of the AUV, assures that the vehicle’s linear and angular velocities converge to their respective setpoints. Both image servoing schemes are based on minimal assumptions and knowledge of the environment. Validation is provided by a high-fidelity 6 d.o.f. dynamics simulation coupled with a challenging 3D visual environment, which generates images for automatic processing and visual servoing. A custom simulator is built that consist of a Simulink model for dynamics simulation and the MORSE robot and sensor simulator, bound together by ROS message passing libraries. The OpenCV library is used for real-time image processing. Methods of visual data filtering are described. Thus generated experimental data is provided that confirms the desired properties of the control scheme presented earlier
Moog, Claude. "Inversion, decouplage, poursuite de modele des systemes non lineaires." Nantes, 1987. http://www.theses.fr/1987NANT2030.
Full textHarmouche, Mohamed. "Contribution à la théorie de la commande par modes glissants d'ordre supérieur et à la commande des systèmes mécaniques sous-actionnés." Thesis, Belfort-Montbéliard, 2013. http://www.theses.fr/2013BELF0214/document.
Full textNonlinear systems are so diverse that generalized tools for control are difficult to develop. Nonlinear control theory requires rigorous mathematical analysis to justify its conclusions. This thesis addresses two distinct, yet important branches of nonlinear control theory: control of uncertain nonlinear systems and control of under-actuated systems.In the first part, a class of Lyapunov-based robust arbitrary higher order sliding mode (HOSM) controllers is developed for the control of uncertain nonlinear systems. This class of controllers is based on a class of controllers for finite-time stabilization of pure integrator chain, and requires the limits of the system uncertainty to be known a-priori. Then, in order to eliminate the dependence on the knowledge of these limits, an adaptive arbitrary HOSM controller is developed. Using this new class, a universal homogeneous arbitrary HOSM controller is developed and it is shown that the homogeneity degree can be manipulated to obtain additional advantages in the proposed controllers, such as bounded control, minimum amplitude of discontinuous control and fixed time convergence. The performance of the controllers has been demonstrated through simulations and experiments on a fuel cell system.In the next part, the control of two under-actuated systems is studied. The first control problem is the global path following of car-type robotic vehicle, using target-point. The second problem is the precise tracking of surface marine vessels. Both these problems are distinct in nature; however, they are subjected to similar physical constraints. The solutions proposed for these control problems use saturated controls, taking into account the physical bounds on the control inputs. Simulations have been performed to demonstrate the performance of these controllers
YANG, FU-JI, and 楊富吉. "Model following fuzzy control of servo systems." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/96483808575121848149.
Full textYung-JianWang and 王永建. "Adaptive Model-Following Control of the Hydraulic Servomechanism." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/g7ge8m.
Full text崑山科技大學
機械工程研究所
97
In this paper, the adaptive model-following control theory applied to the position control of the hydraulic servomechanism is first presented. Second, the digital adaptive model-following PID controller is implemented on the PC-based computer with the Delphi 6.0 software. The simulated and experimental results show that the performances of the PID controller with and without the adaptive model-following control effects. The model following effects on the position control show that the performances of the PID controller can be improved by a suitable adaptation signal. Analysis of the hydraulic servo system to identify the dynamic model, this model use MATLAB / Simulink simulation software adaptive model-following PID controller. Use computer simulation model to analyze and design controllers, prove the correctness of simulation parameters.
JIANG, XING-YA, and 蔣興亞. "Adaptive model following control with variable structure system for position control." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/38853899818609958305.
Full textChi-Jui, Kao. "Intelligent Car-Following Control Using Cerebellar Model Articulation Controller." 2004. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0009-0112200611330076.
Full textZHANG, WEN-YU, and 張文裕. "The robust adaptive model-following control algorithm for manipulators." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/87330478299069403441.
Full textKao, Chi-Jui, and 高啟瑞. "Intelligent Car-Following Control Using Cerebellar Model Articulation Controller." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/41258903770963265558.
Full text元智大學
電機工程學系
92
The application of new technologies of computer and communications on the transportation vehicle can improve the vehicle safety and accelerate the vehicle performance dramatically. Also, the vehicle can communicate with all other information suppliers at any time. This is called the Intelligent Vehicle (IV). This thesis focuses on the design of the cerebellar model articulation controller (CMAC) based on adaptive control, supervisory control and recursive control, which attempt to provide a comprehensive treatment of CMACs in closed-loop control applications. For supervisory recurrent cerebellar-model articulation controller (SRCMAC), the car-following control system is formulated as a tracking problem. The SRCMAC is designed to achieve satisfactory tracking performance for car-following control system. Finally, a design method of recurrent CMAC for multi-input multi-output nonlinear systems is developed and is applied to lane-change control system. From the simulation results, the proposed intelligent control techniques have been shown to achieve satisfactory control performance for the considered nonlinear systems. In addition to use matlab’s simulations, the virtual reality (VR) simulations are also carried out. In the VR system, we use 3D Studio MAX to construct the scenes, and use the 3D animation development tool MATFOR VR to program the entire playing process. Moreover, we add dynamic motion equation and control method into the scenes, and use virtual reality technique to show the motion of translation and rotation of vehicles.
Chen, Chin-TA, and 陳金達. "Model Following based μ-Synthesis Control of Induction Motors." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/92882386727764583470.
Full text國立中山大學
電機工程學系研究所
88
In 1970’s, by applying the field-oriented analysis method, the decoupling of motor speed (motor torque) and rotor flux is obtained. However, the performance is rather sensitive to the variation of motor parameters, especially the motor time constant, which varies with the temperature and saturation of magnetizing inductance. In this thesis, the model following based μ design for induction motor speed control is studied. Roughly speaking, the model following component provides a reference model with desired closed-loop performance and the μ component provides a systematic synthesis procedure so that, under practical uncertainty and load disturbance, the goal of asymptotic model following is achieved.
GU, GI-WEI, and 顧琪偉. "Design of adaptive model following control (AMFC) system with bang-bang control." Thesis, 1986. http://ndltd.ncl.edu.tw/handle/05723226751825205872.
Full textZhang, Zhang. "Path-following control for power generating kites using economic model predictive control approach." Thesis, 2019. http://hdl.handle.net/1828/10912.
Full textGraduate
2020-05-14
LIN, DA-WEI, and 林大為. "Application of variable-structure model-following control system in DC motor speed control." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/05346259009577894029.
Full textLIN, JIAN-CONG, and 林建聰. "A variable structure model following control of an elastic robot." Thesis, 1987. http://ndltd.ncl.edu.tw/handle/73271186759705525427.
Full textYan, Gwo Ming, and 顏國名. "Integral Variable Structure Model Following Control for DC Motor Drivers." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/09775435960854047622.
Full text國立中山大學
電機工程研究所
83
In this paper, the design and implement of a DSP-based dc motor servo driver are presented. An integral variable structure model following control approach for the position/ velocity loop of the dc motor driver. This approach combines an integral variable structure control approach with a model following control system and achieves accurate position/velocity servo tracking in the presence of load disturbances and plant parameter variation by simulation and experiment results. The concept of model following control system is to use a reference model, which specifies the design requirements, as a part of the control system. The integral variable structure control approach is applied to the design of a model following control system. An experimental prototype system which consists of an ADSP21020 DSP micro- processor is constructed. The driver can be divided into four parts, control, power, feedback and power supply circuits. The control part deals with the control procedure and algorithm. The peripheral interface circuits are composed of D/A converter , A/D converter and encoder/counter circuits. The feedback circuits are composed of position sensor, current sensor and preservation circuits. The power circuits are composed of the isolated amplifier and power switch. The power supply circuits are composed of the regulator and filter. This paper proves the properties of this drivers and the feasibility of this approch.
周建興. "A study of model following control design in flight vehicles." Thesis, 1990. http://ndltd.ncl.edu.tw/handle/ye228t.
Full textChang, Kai-Sheng, and 張凱勝. "Model Following Adaptive Fuzzy Control Design for a Biped Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/49512703291015620799.
Full text大同大學
電機工程學系(所)
96
In this thesis, model following adaptive fuzzy tracking control is presented for multi-input multi-output (MIMO) biped robot.An adaptive fuzzy controller is constructed from a set of fuzzy IF-THEN rules whose parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given trajectory. The fuzzy logic systems are used to approximate the unknown nonlinear system functions of biped robot while the adaptive law is proposed to adjust the parameters of the fuzzy controller on-line.The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by using Lyapunov stability tools. The performance of the proposed control scheme is verified by computer simulation and experimental studies.The simulation studies discuss two kind of cases in this thesis.The first case is to discuss the system performance using different desired trajectories. The second case is to track a series trajectory plans of walking for the biped robot.In simulation, we use the robot's hip and leg trajectory. We can find the relation of geometry by computing the trajectories. Using the relation, we can get the angles of the links. We apply the angles as inputs to the propose controller for simulation. We use the data from the output of the controller for the data of the motor of the robot. By using the robot control interface, we apply the data to the robot such that make the robot walk. Finally, we will use a biped walking robot to verify the simulation results and effectiveness of the proposed method.
Sheng, Chia-Hsu, and 許嘉升. "Gain scheduled model following control of uncertain pendulum:A data-based design." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/48717470897908703838.
Full text國立成功大學
航空太空工程學系碩博士班
91
In general, the first step in the procedure for designing a controller is to do the system identification. Today, Data-Based Controller Synthesis (DBCS) is a very fast method to design controller. Because this method is based on open-loop test data and the desired close-loop system model parameters even if the parameterized model is unknown. In this thesis, we applied the method to design controller, making the mechanical system of a DC motor with a rod fixed on the shaft to do the position control. The motor is asked to motion form bottom to top, the bottom is the null angle from the line of gravity.
LI, ZU-SHEN, and 李祖聖. "Stabilization and model-following control of linear two-time-scale systems." Thesis, 1989. http://ndltd.ncl.edu.tw/handle/16217723716775044638.
Full textLeiner, Gabriel G. "Driver Dynamics and the Longitudinal Control Model." 2012. https://scholarworks.umass.edu/theses/792.
Full textChang, Geeng Kwei, and 張耿魁. "Integral Variable Structure Model Following Control of a Brushless DC Motor Driver." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/32334835831087357612.
Full text國立中山大學
電機工程研究所
83
In this paper, the design and implementation of a DSP-based brushless dc motor servo driver are presented. An integral variable structure model following control (IVSMFC) approach is proposed for the position/velocity loop of the brushless dc motor driver. The IVSMFC approach combines an integral variable structure control (IVSC) approach with a model following control system (MFCS). The concept of MFCS is to use a reference model, which specifies the design requirements , as a part of the control system. The IVSC approach is applied to the design of a MFCS. An experimental prototype system which consists of an ADSP21020 DSP microprocessor is contructed. The driver can be divided into two parts, the DSP control unit and power circuits. The DSP control unit deals with the control procedure and control algorithm. The peripheral interface circuits are composed of D/A converter, A/D converter and encoder/counter circuits. The power circuits consist of pulse width modulation, delay, gate driver and hall current sensor circuits. They can amplify the the power of the control signal to drive the motor. Simulation and experimental results show that the proposed scheme can achieve a fast and accurate servo tracking in the presence of load disturbances and plant parameter variations.
Jong, Ching Feng, and 鍾慶豐. "Integral Variable Structure Model Following Control for Vector- Controlled AC Induction Motor Drivers." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/97500412146862571567.
Full text國立中山大學
電機工程研究所
83
In this paper, the design and implementation of a DSP-based ac induction motor servo driver are presented. The driver adopts an indirect vector control method to decouple nonlinear characteristics of the induction motor. An integral variable structure model following control (IVSMFC) approach is proposed for the position/velocity loop of the induction motor driver. The IVSMFC approach combines an integral variable structure control (IVSC) approach with a model following control system (MFCS). The concept of MFCS is to use a reference model, which specifies the design requirements, as a part of the control system. The IVSC approach is applied to the design of a MFCS. An experimental prototype system which consists of an ADSP21020 DSP microprocessor is contructed. The driver can be divided into two parts, the DSP control unit and power circuits. The DSP control unit deals with the control procedure and control algorithm. The peripheral interface circuits are composed of D/ A converter, A/D converter and encoder/counter circuits. The power circuits consist of pulse width modulation, delay, gate driver and hall current sensor circuits. They can amplify the the power of the control signal to drive the induction motor. Simulation and experimental results show that the proposed scheme can achieve a fast and accurate servo tracking in the presence of load disturbances and plant parameter variations.
Tsai, Ming-Chang, and 蔡明璋. "An Experimental Study on Model Following Adaptive Position Control of a Pneumatic Servocylinder." Thesis, 1993. http://ndltd.ncl.edu.tw/handle/21866576611161093348.
Full text