IET Control Theory and Applications最新文献

{"title":"Phase-Advanced ADRC: Precision Missile Attitude Control via Delay Compensation","authors":"Minghao Liao,&nbsp;Shurong Li","doi":"10.1049/cth2.70116","DOIUrl":"https://doi.org/10.1049/cth2.70116","url":null,"abstract":"<p>This paper proposes a measurement delay-compensated phase-leading linear active disturbance rejection control (MPLADRC) framework for systems subject to measurement delay, noise, and time-varying disturbances. The core of the method is a novel measurement delay-compensated phase-leading extended state observer (MPLESO), which integrates a synchronized input filter to suppress noise while generating an effective phase lead to offset delay-induced dynamics. A lead time-constant formulation is derived to guarantee zero steady-state error, expand disturbance estimation bandwidth, and ensure closed-loop stability. Comprehensive simulations demonstrate that MPLADRC achieves superior disturbance rejection, faster response, and improved tracking accuracy compared with conventional LADRC, delivering consistent performance gains exceeding 35.8%.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70116","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147562911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A New Auto-Tuned Velocity Estimator Design for Mechatronic Systems","authors":"Hazin Inci,&nbsp;Erman Selim,&nbsp;Enver Tatlicioglu,&nbsp;Erkan Zergeroglu,&nbsp;Aydogan Savran","doi":"10.1049/cth2.70077","DOIUrl":"https://doi.org/10.1049/cth2.70077","url":null,"abstract":"<p>Velocity observers, specifically model independent observers, are of great value for controller implementation of mechatronic systems where the velocity of the system is either not measurable or the corresponding sensor is too costly. Therefore, the use of a surrogate signal is imperative. In this research, we present the design and associated stability of a saturation function based velocity estimator/observer for a general class of mechatronic systems. The proposed method estimates velocity without requiring prior knowledge of system dynamics. A novel adaptive update algorithm automatically adjusts the observer gains, eliminating the need for manual gain-tuning. We establish the stability of the velocity observer, along with the auto-tuned gain update rules, through a Liapunov-type analysis. Experimental validation on a rotary inverted pendulum demonstrates the effectiveness of the proposed method. Two case studies are conducted: the first compares the real-time performance of the proposed observer with a signum function based observer, while the second evaluates the observer's reliability with constant gains, highlighting its capability to support control design and maintain robustness against external disturbances.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70077","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147562817","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Vibration Spectrum of an Act-and-Wait Controlled System With Significant Damping","authors":"Peter Szalai,&nbsp;Mate Antali","doi":"10.1049/cth2.70111","DOIUrl":"https://doi.org/10.1049/cth2.70111","url":null,"abstract":"<p>Act-and-wait concept in control theory is a tool for enhancing the control quality by decreasing the destabilising effect of time delay. As was shown in other works, applying the act-and-wait concept to a PD position control increases the available range of proportional gains, which reduces the steady-state error of dry friction. In this paper, we focus on the vibration phenomena at the boundaries of the dynamic stability from the aspect of the vibration spectrum. We consider a single-degree-of-freedom mechanical model of DC actuators that contains significant effective damping. At different types of stability limits, new analytical and semi-analytical results are derived for the vibration spectrum. The results are validated by numerical calculations and experiments on a linear DC actuator.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70111","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147568436","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Adaptation Mechanism of Model Reference Adaptive System Based on Variable Structure Control for Online Parameter Estimation of IPMSM","authors":"Ertugrul Ates,&nbsp;Burak Tekgun,&nbsp;Murat Barut","doi":"10.1049/cth2.70080","DOIUrl":"https://doi.org/10.1049/cth2.70080","url":null,"abstract":"<p>This study introduces stator currents-based model reference adaptive system (MRAS) estimators that employ variable structured control (VSC) in the adaptation mechanism to enable the online estimation of stator resistance and permanent magnet (PM) flux in interior permanent magnet synchronous motors (IPMSMs). These MRAS estimators estimate stator resistance and PM flux by analysing the error between the stator currents measured as the reference model and the stator currents generated by the adaptive model. The performance of the proposed estimators is assessed through simulation studies. Furthermore, the proposed approach is compared to a conventional MRAS employing a fixed-gain proportional-integral (PI) controller. Simulation results and error analyses indicate that the VSC-based MRAS algorithms outperform traditional PI-based MRAS in terms of accuracy and reliability. Additionally, the proposed method eliminates the reliance on a fixed-gain PI controller, a common component in conventional MRAS systems.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70080","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147568550","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Predefined-Time Fault-Tolerant Control of Rigid Spacecraft With Prescribed Performance","authors":"Keyu Zhu,&nbsp;Peng Cheng,&nbsp;Jason J. R. Liu","doi":"10.1049/cth2.70114","DOIUrl":"https://doi.org/10.1049/cth2.70114","url":null,"abstract":"<p>This paper proposes a predefined-time fault-tolerant control strategy to address the attitude tracking problem of rigid spacecraft, considering time-varying actuator faults, inertia uncertainties and unknown external disturbances. To ensure both transient and steady-state performance of attitude tracking, prescribed performance functions are introduced, and coordinate transformations are employed to convert constrained tracking errors into unconstrained states. Based on the transformed errors and the command-filtered backstepping recursive design procedure, a predefined-time fault-tolerant controller incorporating radial basis function neural networks (RBFNNs) is systematically developed. RBFNNs are utilized for online estimation and compensation of the system's unknown dynamics, thereby improving control accuracy. The proposed controller guarantees that spacecraft attitude errors converge to minimal neighbourhoods of the origin within a predefined settling time. Finally, comparative simulation results validate the effectiveness of the proposed control approach.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70114","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147568434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Nonlinear Optimal Control of Postprandial Blood Glucose Response for Patients With Type 2 Diabetes or Prediabetes by Meal Order","authors":"Andrey V. Savkin,&nbsp;Xiaotian Feng","doi":"10.1049/cth2.70113","DOIUrl":"https://doi.org/10.1049/cth2.70113","url":null,"abstract":"<p>Recent experimental studies show that changing meal order without reducing the food quantity or changing food type can significantly reduce postprandial glucose blood responses of individuals with type 2 diabetes and prediabetes. This paper proposes a relatively simple non-linear mathematical model describing the effect of meal order and timing on postprandial glucose response. The problem of optimal control of postprandial blood glucose response by meal order is stated and solved for the proposed non-linear model. The proposed model is successfully verified using recently published experimental data. Computer simulations with several realistic examples show the effectiveness of the proposed optimal control method.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70113","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147568435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fault Detection Analysis of State-Triggered Impulsive Boolean Control Networks","authors":"Mao Jiang,&nbsp;Ke Wu,&nbsp;Gang Yang,&nbsp;Yicheng Xiao,&nbsp;Zhihao Tu,&nbsp;Rongpei Zhou","doi":"10.1049/cth2.70115","DOIUrl":"https://doi.org/10.1049/cth2.70115","url":null,"abstract":"<p>This paper investigates the fault detection problem of state-triggered impulsive Boolean control networks (STIBCNs) and puts forward a detection approach integrating observer-based techniques with replica-system methods. First, based on the hybrid-index model, a time-domain equivalent model for STIBCNs is established, and the maximum jump matrix is introduced to characterise the system dynamical characteristics within the jumping subset. Second, the concepts of meaningful faults and detectable faults for STIBCNs are formally defined, and the necessary and sufficient conditions for the detectability of meaningful faults in the hybrid domain are derived. Finally, two fault detection algorithms are designed, and their effectiveness is verified through an example.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70115","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147288397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Specialized Deep Residual Policy Reinforcement Learning Framework for Safe and Adaptive Continuous Control","authors":"Ammar N. Abbas,&nbsp;Georgios C. Chasparis,&nbsp;John D. Kelleher","doi":"10.1049/cth2.70099","DOIUrl":"https://doi.org/10.1049/cth2.70099","url":null,"abstract":"<p>Traditional controllers have limitations as they rely on prior knowledge about the physics of the problem, require modelling of dynamics, and struggle to adapt to abnormal situations. Deep reinforcement learning (DRL) offers a promising alternative by learning policies through exploration, but its black-box nature and reliance on random exploration pose challenges in safety-critical environments. Recognizing that conventional controllers and DRL have complementary strengths, we propose a novel hybrid framework to overcome challenges in both conventional control systems and DRL. This framework integrates residual policy learning, a cycle of learning approach, and a specialized reinforcement learning agent for safety-critical, continuous control. Residual policy learning enables collaboration between DRL and conventional controllers, the cycle of learning improves learning efficiency by leveraging expert trajectories, and a specialized reinforcement learning agent optimizes policy learning in critical states using an input–output hidden Markov model. The framework is validated on the Tennessee Eastman process through experiments that analyse synchronization, activation mechanisms and an ablation study.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70099","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147299842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Adaptive Velocity-Sensorless Control Strategy of Multi-Locomotive Freight Trains Using a Non-Recursive Control and High-Gain Observer","authors":"Tien Dung Nguyen,&nbsp;Duc Manh Do,&nbsp;Duc Thinh Le,&nbsp;Binh-Minh Nguyen,&nbsp;Tung Lam Nguyen","doi":"10.1049/cth2.70103","DOIUrl":"https://doi.org/10.1049/cth2.70103","url":null,"abstract":"<p>In recent years, the railway transportation sector has experienced significant growth, playing an important role in modern transportation systems. Large-scale freight trains often require multiple locomotives to provide sufficient traction during operation. A major challenge in freight train control is to ensure that the wagons follow the predefined reference velocity, especially under the influence of unknown external disturbances and varying freight loads across different trips. This paper proposes an adaptive control strategy without velocity sensors for freight trains with multiple electric locomotives. The control strategy is developed based on the non-recursive control framework with time-varying parameters. The elimination of velocity sensors is achieved through a high-gain observer (HGO), which enables accurate estimation of the velocity tracking error of the electric locomotives. The position and velocity tracking errors of the locomotives are proven to converge asymptotically to the origin using Lyapunov stability theory. Finally, simulation results are carried out to validate the effectiveness and reliability of the proposed control strategy.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70103","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147268970","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Solution to Asymptotic Stability in Tracking Control of Nonlinear Systems With Control Input Differentiation, Actuator Dynamics, and Saturation Constraints","authors":"Mohammad Reza Homaeinezhad,&nbsp;Mir Mohammad Mousavi Alvar,&nbsp;Ali Soordi,&nbsp;Mojtaba Aghaei,&nbsp;Ali Hatefikousha,&nbsp;Taha Charehjoo","doi":"10.1049/cth2.70108","DOIUrl":"https://doi.org/10.1049/cth2.70108","url":null,"abstract":"<p>The design of stable high-performance precision controllers is often confronted with a set of actuation input nonlinearities and dynamical systems where the control input's time derivative appears as an inherent higher order dynamics term in the governing physical equations. This paper presents a permanently feasible asymptotically stable control architecture that addresses mathematical intricacies of this class of systems, designed to ensure robust stability and precise trajectory tracking despite parametric uncertainty and measurement noise, as well as concurrent imposition of multiple, cascaded saturation input nonlinearities within the main system and actuator. Built upon a gradient descent (GD)-optimised dual-mode discrete sliding-mode control, the proposed framework systematically addresses these complexities through an advanced trajectory modification scheme, which defines the feasible operating region by computing the intersection of multiple constraint-derived sets. The result is a control methodology that provides solid performance for systems where actuator dynamics, constraints, and input derivative terms emerge as intrinsic non-negligible features. The algorithm also deeply mitigates the dependence on parameter pre-tuning while offering low computational burden, as substantiated by dedicative analyses. It further utilises optimal position–velocity mode synergy for smooth tracking of even high-frequency or discontinuous reference trajectories. Simulation results and subsequent comparisons verify the effectiveness of the control algorithm in terms of tracking accuracy, lower energy consumption, and enhanced robustness against parameter uncertainty. To validate real-time performance compatibility, the controller was implemented on an isolated 2.8 GHz Intel Core i7 core under the EVL real-time Linux kernel. During a 30-s run at a 100 Hz sample rate, it exhibited a 2.66-ms average execution time and a 5.54-ms maximum (well under the 10-ms allotted period) with no missed deadlines despite the presence of execution time jitter and statistical outliers. The sustained throughput of 393.16 Hz demonstrates that the proposed controller achieves both an affordable computational burden and deterministic timing suitable for embedded applications.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"20 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2026-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70108","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146193424","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}