A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

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A data-driven PID controller for flexible joint manipulator using normalized simultaneous perturbation stochastic approximation

This paper presents a data-driven PID control scheme based on Normalized Simultaneous Perturbation Stochastic Approximation (SPSA). Initially, an unstable convergence of conventional SPSA is illustrated, which motivate us to introduce its improved version. Here, the conventional SPSA is modified by...

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Bibliographic Details
Main Authors:	Nik Mohd Zaitul Akmal, Mustapha, Mohd Helmi, Suid, Raja Mohd Taufika, Raja Ismail, Ahmad Nor Kasruddin, Nasir, Mohd Ashraf, Ahmad, Mohd Zaidi, Mohd Tumari
Format:	Conference or Workshop Item
Language:	English English
Published:	2018
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/23227/ http://umpir.ump.edu.my/id/eprint/23227/1/119.%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf http://umpir.ump.edu.my/id/eprint/23227/2/119.1%20A%20data-driven%20PID%20controller%20for%20flexible%20joint.pdf

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