The well-known and nearly hundred years old "proportional-integral- derivative"(PID) controller is a linear feedback control method which adjusts the input signal by ...

Self-regulating systems with feedback loops, i.e., the routing back of the output of a system to its input, have existed since antiquity and have since become an integral part of modern technology.

This work addresses the problem of global set-point control of elastic joint robots by combining elastic structure preserving (ESP) control with non-collocated integral action. Despite the popularity ...