{"id":"https://openalex.org/W1712476058","doi":"https://doi.org/10.1109/cca.2003.1223147","title":"Position control of a single-link robot-arm using a multi-loop PI controller","display_name":"Position control of a single-link robot-arm using a multi-loop PI controller","publication_year":2004,"publication_date":"2004-01-24","ids":{"openalex":"https://openalex.org/W1712476058","doi":"https://doi.org/10.1109/cca.2003.1223147","mag":"1712476058"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2003.1223147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-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/A5059955311","display_name":"Mehmet Turan S\u00f6ylemez","orcid":"https://orcid.org/0000-0002-7600-0707"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"M.T. Soylemez","raw_affiliation_strings":["Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088438996","display_name":"Metin G\u00f6ka\u015fan","orcid":"https://orcid.org/0000-0002-8931-238X"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Gokasan","raw_affiliation_strings":["Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112802802","display_name":"O.S. Bogosyan","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"O.S. Bogosyan","raw_affiliation_strings":["Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Istanbul Technical University, Maslak, Istanbul, Turkey","institution_ids":["https://openalex.org/I48912391"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Istanbul Tech. Univ., Turkey","institution_ids":["https://openalex.org/I48912391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059955311"],"corresponding_institution_ids":["https://openalex.org/I48912391"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.06323664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"1001","last_page":"1006"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9987999796867371,"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/T13644","display_name":"Control Systems in Engineering","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8494212627410889},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7022056579589844},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6243411302566528},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5825698971748352},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5413280725479126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5041810274124146},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4987971782684326},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4790007770061493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47883227467536926},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.47647449374198914},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.4522098898887634},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43678390979766846},{"id":"https://openalex.org/keywords/full-state-feedback","display_name":"Full state feedback","score":0.4191061854362488},{"id":"https://openalex.org/keywords/pole\u2013zero-plot","display_name":"Pole\u2013zero plot","score":0.4111074209213257},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.4107738435268402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3077065348625183},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25410693883895874},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.1949085295200348},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1844724714756012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13421431183815002},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07523417472839355}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8494212627410889},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7022056579589844},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6243411302566528},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5825698971748352},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5413280725479126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5041810274124146},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4987971782684326},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4790007770061493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47883227467536926},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.47647449374198914},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.4522098898887634},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43678390979766846},{"id":"https://openalex.org/C204322392","wikidata":"https://www.wikidata.org/wiki/Q925922","display_name":"Full state feedback","level":3,"score":0.4191061854362488},{"id":"https://openalex.org/C43656286","wikidata":"https://www.wikidata.org/wiki/Q2100961","display_name":"Pole\u2013zero plot","level":3,"score":0.4111074209213257},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.4107738435268402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3077065348625183},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25410693883895874},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.1949085295200348},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1844724714756012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13421431183815002},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07523417472839355},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2003.1223147","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223147","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/45687","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/45687","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W646286238","https://openalex.org/W2010879305","https://openalex.org/W2037231725","https://openalex.org/W2054292592","https://openalex.org/W2065232071","https://openalex.org/W2118321242","https://openalex.org/W2145283928","https://openalex.org/W2155566890","https://openalex.org/W2170351167","https://openalex.org/W3148363731","https://openalex.org/W6653082835"],"related_works":["https://openalex.org/W2096518099","https://openalex.org/W856519647","https://openalex.org/W2120303714","https://openalex.org/W2042497454","https://openalex.org/W38643652","https://openalex.org/W1537489014","https://openalex.org/W1966169071","https://openalex.org/W2001883301","https://openalex.org/W1563994774","https://openalex.org/W2324586516"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,12,22,73],"newly":[4],"developed":[5],"method":[6],"for":[7,83],"assigning":[8],"dominant":[9],"poles":[10,38],"with":[11],"multi-loop":[13],"PI":[14],"controller":[15],"is":[16,27,33,51,63],"applied":[17],"to":[18,35,66,72,76,80],"the":[19,40,48,54,57,68],"control":[20,69],"of":[21,39,56],"single-link":[23],"robot":[24],"arm.":[25],"It":[26],"shown":[28],"in":[29,61],"particular":[30],"that":[31,47],"it":[32],"possible":[34],"place":[36],"2":[37],"close":[41],"loop":[42],"system":[43],"arbitrarily":[44],"and":[45,79],"guarantee":[46],"remaining":[49],"pole":[50],"not":[52],"affecting":[53],"performance":[55],"system.":[58],"The":[59],"freedom":[60],"design":[62],"also":[64],"used":[65],"restrict":[67],"signal":[70],"up":[71],"certain":[74],"level,":[75],"reject":[77],"disturbances":[78],"increase":[81],"robustness":[82],"parametric":[84],"uncertainties.":[85]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-03-17T06:59:57.516163","created_date":"2025-10-10T00:00:00"}