An Output-Tracking-Based Discrete PID-Sliding Mode Control for MIMO Systems
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Bibliographic record
Abstract
Due to its ability to reject disturbance, sliding mode control (SMC) has been widely employed in various control applications with the presence of uncertainty and/or disturbance. However, chattering, caused by the switching function used in SMC, can greatly deteriorate its performance, and thus, limit its applications. In addition to chattering, the application of SMC to a multi-input–multi-output (MIMO) system becomes more challenging due to the coupling effects between the control variables. This paper presents the development of an output-tracking-based discrete proportional-integral-derivative SMC (PID-SMC) for MIMO systems, in which the problem of output tracking is defined to the one of state tracking by using the model reference approach. The developed control scheme allows for both achieving the zero steady-state error and eliminating the chattering problem. For validation, experiments were performed on a commercially available three degrees-of-freedom nanopositioning stage with the developed control scheme, as compared to a traditional PID controller. Experimental results illustrate that with the developed control scheme, the positioning performance of the stage can be significantly improved, including the zero steady-state error and eliminated chattering.
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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 | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| 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