{"id":"https://openalex.org/W2583098039","doi":"https://doi.org/10.1080/00207179.2017.1288301","title":"Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations","display_name":"Performance analysis for bounded persistent disturbances in PD/PID-controlled robotic systems with its experimental demonstrations","publication_year":2017,"publication_date":"2017-01-31","ids":{"openalex":"https://openalex.org/W2583098039","doi":"https://doi.org/10.1080/00207179.2017.1288301","mag":"2583098039"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2017.1288301","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2017.1288301","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100333069","display_name":"Jung Hoon Kim","orcid":"https://orcid.org/0000-0002-5387-2895"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Hoon Kim","raw_affiliation_strings":["Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5387-2895","affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007505017","display_name":"Sung-moon Hur","orcid":"https://orcid.org/0000-0002-0895-6694"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sung-Moon Hur","raw_affiliation_strings":["Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea","Department of Transdisciplinary Studies, Seoul National University, Suwon, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Department of Transdisciplinary Studies, Seoul National University, Suwon, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101939813"],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":1.5866,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8350687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"91","issue":"3","first_page":"688","last_page":"705"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.857229471206665},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.8367457389831543},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7997536063194275},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6733621954917908},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5219742059707642},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5119277238845825},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.504090428352356},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48092934489250183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4667416214942932},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4447932243347168},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41547220945358276},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4140339493751526},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4104357063770294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4055418372154236},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34606310725212097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27275681495666504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24420684576034546},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12186974287033081},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08827510476112366}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.857229471206665},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.8367457389831543},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7997536063194275},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6733621954917908},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5219742059707642},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5119277238845825},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.504090428352356},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48092934489250183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4667416214942932},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4447932243347168},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41547220945358276},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4140339493751526},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4104357063770294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4055418372154236},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34606310725212097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27275681495666504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24420684576034546},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12186974287033081},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08827510476112366},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/00207179.2017.1288301","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2017.1288301","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/98862","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/98862","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W575905749","https://openalex.org/W635503458","https://openalex.org/W1509235676","https://openalex.org/W1547692232","https://openalex.org/W1596951786","https://openalex.org/W1735418142","https://openalex.org/W1978083641","https://openalex.org/W1997111443","https://openalex.org/W2005249374","https://openalex.org/W2009478121","https://openalex.org/W2017493230","https://openalex.org/W2029107384","https://openalex.org/W2031785952","https://openalex.org/W2042106612","https://openalex.org/W2045689494","https://openalex.org/W2045834742","https://openalex.org/W2048603489","https://openalex.org/W2049027894","https://openalex.org/W2052842736","https://openalex.org/W2057042011","https://openalex.org/W2084911649","https://openalex.org/W2089794599","https://openalex.org/W2095840481","https://openalex.org/W2109640889","https://openalex.org/W2125857525","https://openalex.org/W2127101407","https://openalex.org/W2127956088","https://openalex.org/W2131965724","https://openalex.org/W2137879993","https://openalex.org/W2140974698","https://openalex.org/W2142350423","https://openalex.org/W2148074858","https://openalex.org/W2165626406","https://openalex.org/W2169932488","https://openalex.org/W2171676167","https://openalex.org/W2174324541","https://openalex.org/W2281965139","https://openalex.org/W2343497614","https://openalex.org/W2418068287","https://openalex.org/W3027718775","https://openalex.org/W4210939600","https://openalex.org/W4246923680"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2362018761","https://openalex.org/W59441132","https://openalex.org/W3200772726","https://openalex.org/W1498158497","https://openalex.org/W1534750456","https://openalex.org/W2125082648","https://openalex.org/W2283715810"],"abstract_inverted_index":{"This":[0,61],"paper":[1],"is":[2,62,78],"concerned":[3],"with":[4,33,96],"performance":[5,73],"analysis":[6],"of":[7,23,36,40,54,83,99,111,127,136,207,217],"proportional-derivative/proportional-integral-derivative":[8],"(PD/PID)":[9],"controller":[10],"for":[11,74,203],"bounded":[12,118],"persistent":[13,55,100,119],"disturbances":[14,37,56,88,101,120],"in":[15,38,58,90,102,113,140,221],"a":[16,41,108,157,163,181,204],"robotic":[17,42,59,75,103,142,209],"manipulator.":[18],"Even":[19],"though":[20],"the":[21,34,44,52,64,71,81,87,91,97,114,128,141,149,169,174,185,189,192,196,215,218],"notion":[22],"input-to-state":[24],"stability":[25],"(ISS)":[26],"has":[27,162],"been":[28],"widely":[29],"used":[30],"to":[31,51,68,80,147,191,213],"deal":[32,95],"effect":[35,98],"control":[39,139,159,165,198],"manipulator,":[43],"corresponding":[45],"studies":[46,66,202],"cannot":[47],"be":[48,122],"directly":[49],"applied":[50],"treatment":[53,82,110],"occurred":[57],"manipulators.":[60],"because":[63,117],"conventional":[65],"relevant":[67],"ISS":[69,112],"consider":[70],"H\u221e":[72],"systems,":[76,104],"which":[77,144,168],"confined":[79],"decaying":[84],"disturbances,":[85],"i.e.":[86],"those":[89],"L2":[92],"space.":[93,130],"To":[94],"we":[105,178],"first":[106],"provide":[107],"new":[109],"L\u221e":[115,129,186],"sense":[116],"should":[121],"intrinsically":[123],"regarded":[124],"as":[125],"elements":[126],"We":[131,154],"next":[132],"derive":[133],"state-space":[134],"representations":[135],"trajectory":[137,170],"tracking":[138,171],"systems":[143],"allow":[145],"us":[146],"define":[148],"problem":[150],"formulations":[151],"more":[152],"clearly.":[153],"then":[155],"propose":[156],"novel":[158],"law":[160],"that":[161],"PD/PID":[164],"form,":[166],"by":[167],"system":[172],"satisfies":[173],"reformulated":[175],"ISS.":[176],"Furthermore,":[177],"can":[179],"obtain":[180],"theoretical":[182],"argument":[183],"about":[184],"gain":[187],"from":[188],"disturbance":[190],"regulated":[193],"output":[194],"through":[195],"proposed":[197],"law.":[199],"Finally,":[200],"experimental":[201],"typical":[205],"3-degrees":[206],"freedom":[208],"manipulator":[210],"are":[211],"given":[212],"demonstrate":[214],"effectiveness":[216],"method":[219],"introduced":[220],"this":[222],"paper.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
