{"id":"https://openalex.org/W1998633660","doi":"https://doi.org/10.1109/acc.2010.5531358","title":"Virtual Reference Feedback Tuning (VRFT) of velocity controller in self-balancing industrial manual manipulators","display_name":"Virtual Reference Feedback Tuning (VRFT) of velocity controller in self-balancing industrial manual manipulators","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W1998633660","doi":"https://doi.org/10.1109/acc.2010.5531358","mag":"1998633660"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2010.5531358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},"type":"conference-paper","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/A5003122504","display_name":"Fabio Previdi","orcid":"https://orcid.org/0000-0002-3713-7727"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F Previdi","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","institution_ids":["https://openalex.org/I11039511"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069257687","display_name":"Federico Fico","orcid":null},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F Fico","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","institution_ids":["https://openalex.org/I11039511"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023295641","display_name":"D. Belloli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D Belloli","raw_affiliation_strings":["Consorzio Intellimech, Bergamo, Italy","Consorzio Intellimech, c/o Parco Scientifico Tecnologico Kilometro Rosso, viale Europa, 2 - 24040 Stezzano (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Consorzio Intellimech, Bergamo, Italy","institution_ids":[]},{"raw_affiliation_string":"Consorzio Intellimech, c/o Parco Scientifico Tecnologico Kilometro Rosso, viale Europa, 2 - 24040 Stezzano (BG), Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047303451","display_name":"Sergio M. Savaresi","orcid":"https://orcid.org/0000-0001-5829-2323"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"S M Savaresi","raw_affiliation_strings":["Dipartimento di Elettronica e Informazione, Politecnico di Milano, Milan, Italy","Dipartimento di Elettronica e Informazione, Politecnico di Milano, via G. Ponzio, 34/5 - 20133, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Dipartimento di Elettronica e Informazione, Politecnico di Milano, via G. Ponzio, 34/5 - 20133, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016672032","display_name":"Ivan Pesenti","orcid":null},"institutions":[{"id":"https://openalex.org/I2802798279","display_name":"Leonardo (Italy)","ror":"https://ror.org/0470vke61","country_code":"IT","type":"company","lineage":["https://openalex.org/I2802798279"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"I Pesenti","raw_affiliation_strings":["Research and Development Business Unit, Scaglia Indeva spa, Bergamo, Italy","R&D Business Unit, Scaglia Indeva spa via Marconi, 42 - 24012 Brembilla (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research and Development Business Unit, Scaglia Indeva spa, Bergamo, Italy","institution_ids":[]},{"raw_affiliation_string":"R&D Business Unit, Scaglia Indeva spa via Marconi, 42 - 24012 Brembilla (BG), Italy","institution_ids":["https://openalex.org/I2802798279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084602458","display_name":"Cristiano Spelta","orcid":null},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"C Spelta","raw_affiliation_strings":["Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, Bergamo, Italy","institution_ids":["https://openalex.org/I11039511"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione e Metodi Matematici, Universit\u00e0 degli Studi di Bergamo, via Marconi, 5 \u2013 24044 Dalmine (BG), Italy","institution_ids":["https://openalex.org/I11039511"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2209,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.74547523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1956","last_page":"1961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9997000098228455,"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/T11236","display_name":"Control Systems and Identification","score":0.9997000098228455,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9959999918937683,"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":0.995199978351593,"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":0.755288302898407},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.707260012626648},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6330020427703857},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.524979293346405},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.48744919896125793},{"id":"https://openalex.org/keywords/self-tuning","display_name":"Self-tuning","score":0.4848812520503998},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4846652150154114},{"id":"https://openalex.org/keywords/feedback-controller","display_name":"Feedback controller","score":0.48018303513526917},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4593740701675415},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41356712579727173},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.2569548785686493},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1907435953617096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18417882919311523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1725904941558838},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.10243639349937439}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.755288302898407},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.707260012626648},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6330020427703857},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.524979293346405},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.48744919896125793},{"id":"https://openalex.org/C2780039885","wikidata":"https://www.wikidata.org/wiki/Q7448229","display_name":"Self-tuning","level":4,"score":0.4848812520503998},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4846652150154114},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.48018303513526917},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4593740701675415},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41356712579727173},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.2569548785686493},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1907435953617096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18417882919311523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1725904941558838},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.10243639349937439},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2010.5531358","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2010.5531358","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2010 American Control Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:aisberg.unibg.it:10446/24182","is_oa":false,"landing_page_url":"http://hdl.handle.net/10446/24182","pdf_url":null,"source":{"id":"https://openalex.org/S4377196347","display_name":"Aisberg (University of Bergamo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11039511","host_organization_name":"University of Bergamo","host_organization_lineage":["https://openalex.org/I11039511"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W624968055","https://openalex.org/W1612640671","https://openalex.org/W1971467773","https://openalex.org/W1978745215","https://openalex.org/W1996245915","https://openalex.org/W2005665464","https://openalex.org/W2038436774","https://openalex.org/W2100134099","https://openalex.org/W2125937501","https://openalex.org/W2132107694","https://openalex.org/W2135086010","https://openalex.org/W2139773769","https://openalex.org/W2151083101","https://openalex.org/W2155791737","https://openalex.org/W2913465992"],"related_works":["https://openalex.org/W2382190654","https://openalex.org/W2041034200","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W3119148404","https://openalex.org/W3112671042","https://openalex.org/W1969360890","https://openalex.org/W2097451273","https://openalex.org/W2601626550"],"abstract_inverted_index":{"Self-balancing":[0],"manual":[1],"manipulators":[2],"are":[3],"devices":[4],"that":[5,12],"countervail":[6],"the":[7,27,32,43,50,53,85,100],"weight":[8],"of":[9,34,52],"a":[10,20,35,38,73,79],"load":[11,44],"must":[13],"be":[14],"manually":[15],"handled":[16],"and":[17,94],"moved":[18],"by":[19],"human":[21],"operator.":[22],"An":[23],"electric":[24,55],"motor":[25,56],"delivers":[26],"force":[28],"needed":[29],"to":[30,41,97],"control":[31],"velocity":[33,57],"spool":[36],"with":[37],"metallic":[39],"rope":[40],"which":[42,67],"is":[45],"hanged.":[46],"This":[47],"work":[48],"concerns":[49],"tuning":[51,71],"DC":[54],"controller.":[58],"Specifically,":[59],"Virtual":[60],"Reference":[61],"Feedback":[62],"Tuning":[63],"has":[64],"been":[65],"applied,":[66],"provides":[68],"controller":[69,89],"parameter":[70],"in":[72,99],"completely":[74],"automatic":[75],"way":[76],"based":[77],"on":[78,84],"single":[80],"I/O":[81],"batch":[82],"measurement":[83],"plant.":[86],"The":[87],"tuned":[88],"shows":[90],"good":[91,95],"tracking":[92],"performances":[93],"robustness":[96],"variation":[98],"applied":[101],"load.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
