Development and experimental evaluation of a fixed-gain nonlinear control for a low-cost pneumatic actuator
Why this work is in the frame
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Bibliographic record
Abstract
A practical, easy-to-implement and accurate fixed-gain nonlinear position controller for a typical low-cost industrial pneumatic actuator is developed and evaluated experimentally. The positioning system comprises an inexpensive 5-port three-way proportional control valve with flow deadband, and a double-rod actuator exhibiting significant dry friction. Quantitative feedback theory is used first to systematically design a robust proportional–integral (PI) control law that minimises variations in the dynamic response of the actuator over a wide range of operating conditions and in the presence of uncertainty in the system parameters. Nonlinear modifications, which condition the integral part of the designed PI control law, are then implemented in a step-by-step fashion to further improve closed-loop performance by reducing overshoot and negating the effects of the control valve deadband and actuator friction. Experimental results clearly illustrating the effectiveness of the positioning system for a number of tracking and regulating tasks are presented.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it