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 controller 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. The unstable convergence always happened in the...

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Bibliographic Details
Main Authors:	N.M.Z.A., Mustapha, M.H. Suid, Suid, R.M.T., Raja Ismail, A.N.K., Nasir, M.A. Ahmad, Ahmad, M.Z., Mohd Tumari, J. J., Jui
Format:	Article
Language:	English
Published:	Penerbit Universiti Teknikal Malaysia Melaka 2019
Subjects:	T Technology (General)
Online Access:	http://umpir.ump.edu.my/id/eprint/28889/ http://umpir.ump.edu.my/id/eprint/28889/7/5514-Article%20Text-15297-1-10-20191018.pdf

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