{"id":"https://openalex.org/W2101712652","doi":"https://doi.org/10.1109/cca.2009.5280987","title":"Practical modeling and system identification of R/C servo motors","display_name":"Practical modeling and system identification of R/C servo motors","publication_year":2009,"publication_date":"2009-07-01","ids":{"openalex":"https://openalex.org/W2101712652","doi":"https://doi.org/10.1109/cca.2009.5280987","mag":"2101712652"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2009.5280987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","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/A5002639489","display_name":"Takashi Wada","orcid":"https://orcid.org/0000-0002-2902-9427"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takashi Wada","raw_affiliation_strings":["Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029318565","display_name":"Masato Ishikawa","orcid":"https://orcid.org/0000-0003-3652-196X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masato Ishikawa","raw_affiliation_strings":["Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080319337","display_name":"Ryohei Kitayoshi","orcid":"https://orcid.org/0000-0002-5625-905X"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryohei Kitayoshi","raw_affiliation_strings":["Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004714321","display_name":"Ichiro Maruta","orcid":"https://orcid.org/0000-0002-2246-3570"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ichiro Maruta","raw_affiliation_strings":["Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011600081","display_name":"Toshiharu Sugie","orcid":"https://orcid.org/0000-0002-6100-5222"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiharu Sugie","raw_affiliation_strings":["Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Science, Graduate Shool of Informatics, Kyoto University, Uji. 611-0011, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002639489"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":2.3095,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.89672351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1378","last_page":"1383"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9984999895095825,"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/mechatronics","display_name":"Mechatronics","score":0.8296674489974976},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.7478361129760742},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.676803708076477},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6366569399833679},{"id":"https://openalex.org/keywords/servo-drive","display_name":"Servo drive","score":0.6301881074905396},{"id":"https://openalex.org/keywords/servomechanism","display_name":"Servomechanism","score":0.5942091345787048},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5851029753684998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5169945955276489},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5041190385818481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45938828587532043},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.4529418647289276},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.4379042387008667},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4373125731945038},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4320877194404602},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.4206179678440094},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4195139408111572},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35948073863983154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2762897312641144},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.17752757668495178},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11965420842170715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06032690405845642}],"concepts":[{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.8296674489974976},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.7478361129760742},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.676803708076477},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6366569399833679},{"id":"https://openalex.org/C49581611","wikidata":"https://www.wikidata.org/wiki/Q7455931","display_name":"Servo drive","level":3,"score":0.6301881074905396},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.5942091345787048},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5851029753684998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5169945955276489},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5041190385818481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45938828587532043},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.4529418647289276},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.4379042387008667},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4373125731945038},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4320877194404602},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.4206179678440094},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4195139408111572},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35948073863983154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2762897312641144},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.17752757668495178},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11965420842170715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06032690405845642},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2009.5280987","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2009.5280987","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2013232999","https://openalex.org/W2027369479","https://openalex.org/W2135532919","https://openalex.org/W2140907765","https://openalex.org/W2322588154","https://openalex.org/W2616355174","https://openalex.org/W6657153615","https://openalex.org/W6680223882","https://openalex.org/W6738226645"],"related_works":["https://openalex.org/W2360279824","https://openalex.org/W2387839289","https://openalex.org/W2045478930","https://openalex.org/W2384182507","https://openalex.org/W2384578230","https://openalex.org/W2378363272","https://openalex.org/W2357453782","https://openalex.org/W761730723","https://openalex.org/W2782155728","https://openalex.org/W2152144170"],"abstract_inverted_index":{"An":[0],"R/C":[1,46,76],"servo":[2,14,47,77,82],"motor":[3],"is":[4,57],"a":[5,69,97],"compact":[6],"package":[7],"of":[8,27,42,75,101],"DC":[9],"geared-motor":[10],"associated":[11],"with":[12],"position":[13],"controller.":[15],"They":[16],"are":[17],"widely":[18],"used":[19],"in":[20,36],"small-sized":[21],"robotics":[22],"and":[23,31,71,84],"mechatronics":[24],"by":[25],"virtue":[26],"their":[28,61,86,102],"compactness,":[29],"easiness-to-use":[30],"high":[32],"power/weight":[33],"ratio.":[34],"However,":[35],"order":[37],"to":[38,59],"improve":[39],"control":[40],"performance":[41],"mechatronic":[43],"systems":[44],"using":[45,89],"motors,":[48],"such":[49],"as":[50],"biped":[51],"robots":[52],"or":[53],"under-actuated":[54],"systems,":[55],"it":[56],"crucial":[58],"clarify":[60],"mathematical":[62],"model.":[63],"In":[64],"this":[65],"paper,":[66],"we":[67,107],"propose":[68],"simple":[70],"realistic":[72],"internal":[73,111],"model":[74,100],"motors":[78],"including":[79],"the":[80,110,115],"embedded":[81],"controller,":[83],"estimate":[85,109],"physical":[87],"parameters":[88],"continuous-time":[90],"system":[91],"identification":[92],"method.":[93],"We":[94],"also":[95],"provide":[96],"transfer":[98],"function":[99],"reference-to-torque":[103],"characteristics":[104],"so":[105],"that":[106],"can":[108],"torque":[112],"acting":[113],"on":[114],"load.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-03-21T06:30:42.041108","created_date":"2025-10-10T00:00:00"}