{"id":"https://openalex.org/W2046996558","doi":"https://doi.org/10.1109/cca.2010.5611118","title":"Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot","display_name":"Non-iterative data-driven controller tuning with guaranteed stability: Application to direct-drive pick-and-place robot","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W2046996558","doi":"https://doi.org/10.1109/cca.2010.5611118","mag":"2046996558"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2010.5611118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/146815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009577016","display_name":"Klaske van Heusden","orcid":"https://orcid.org/0000-0003-2763-5279"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Klaske van Heusden","raw_affiliation_strings":["Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003734377","display_name":"Alireza Karimi","orcid":"https://orcid.org/0000-0003-4232-3695"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alireza Karimi","raw_affiliation_strings":["Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031928432","display_name":"Dominique Bonvin","orcid":"https://orcid.org/0000-0003-1233-7922"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dominique Bonvin","raw_affiliation_strings":["Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratoire d' Automatique of Ecole Polytechnique, F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Laboratoire d'Automatique of Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), 1015, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109111564","display_name":"Arjen den Hamer","orcid":null},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Arjen den Hamer","raw_affiliation_strings":["Control Systems Technology Group, Eindhoven University of Technology, The Netherlands","Control Systems Technology group, Eindhoven University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Control Systems Technology Group, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology group, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026038138","display_name":"M. Steinbuch","orcid":"https://orcid.org/0000-0002-1469-1696"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Maarten Steinbuch","raw_affiliation_strings":["Control Systems Technology Group, Eindhoven University of Technology, The Netherlands","Control Systems Technology group, Eindhoven University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Control Systems Technology Group, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]},{"raw_affiliation_string":"Control Systems Technology group, Eindhoven University of Technology, The Netherlands","institution_ids":["https://openalex.org/I83019370"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009577016"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":5.0582,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.94887924,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1005","last_page":"1010"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9997000098228455,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9994999766349792,"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":0.710623562335968},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.6725324988365173},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6577988862991333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5923036932945251},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5437338352203369},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.47770455479621887},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.47717586159706116},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.431222528219223},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.34610238671302795},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30069100856781006},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28628283739089966},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2640237510204315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23359453678131104},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18872064352035522},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17151996493339539},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08767503499984741},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.06359130144119263}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.710623562335968},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.6725324988365173},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6577988862991333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5923036932945251},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5437338352203369},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.47770455479621887},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.47717586159706116},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.431222528219223},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34610238671302795},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30069100856781006},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28628283739089966},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2640237510204315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23359453678131104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18872064352035522},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17151996493339539},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08767503499984741},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.06359130144119263},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/cca.2010.5611118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.tue.nl:openaire_cris_publications/16a41edd-1461-4d89-b78e-f47c6e1f1d50","is_oa":false,"landing_page_url":"https://research.tue.nl/en/publications/16a41edd-1461-4d89-b78e-f47c6e1f1d50","pdf_url":null,"source":{"id":"https://openalex.org/S4406922641","display_name":"TU/e Research Portal","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Heusden, van, K, Karimi, A, Bonvin, D, Hamer, den, A J & Steinbuch, M 2010, Non-iterative data-driven controller tuning with guaranteed stability: application to direct-drive pick-and-place robot. in Proceedings of 2010 IEEE International Conference on Control Applications (CCA) part of 2010 IEEE Multi-conference on Systems and Control, Yokohama, Japan, September 8-10, 2010. Institute of Electrical and Electronics Engineers, pp. 1005-1010, 2010 IEEE International Conference on Control Applications (CCA 2010), Yokohama, Japan, 8/09/10. https://doi.org/10.1109/CCA.2010.5611118","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:infoscience.tind.io:146815","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/146815","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},{"id":"pmh:tue:oai:pure.tue.nl:publications/16a41edd-1461-4d89-b78e-f47c6e1f1d50","is_oa":false,"landing_page_url":"https://research.tue.nl/nl/publications/16a41edd-1461-4d89-b78e-f47c6e1f1d50","pdf_url":null,"source":{"id":"https://openalex.org/S4306401843","display_name":"Data Archiving and Networked Services (DANS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1322597698","host_organization_name":"Royal Netherlands Academy of Arts and Sciences","host_organization_lineage":["https://openalex.org/I1322597698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of 2010 IEEE International Conference on Control Applications (CCA) part of 2010 IEEE Multi-conference on Systems and Control, Yokohama, Japan, September 8-10, 2010, 1005 - 1010","raw_type":"info:eu-repo/semantics/conferencepaper"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:146815","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/146815","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W24525103","https://openalex.org/W134365113","https://openalex.org/W565862821","https://openalex.org/W1502979128","https://openalex.org/W1967073510","https://openalex.org/W2011808898","https://openalex.org/W2046003179","https://openalex.org/W2067286977","https://openalex.org/W2132875296","https://openalex.org/W2151083101","https://openalex.org/W2154794245","https://openalex.org/W2169188825","https://openalex.org/W2182510773","https://openalex.org/W2536620281","https://openalex.org/W4235848843"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"This":[0,36],"paper":[1],"illustrates":[2],"the":[3,25,59,75],"practical":[4],"application":[5],"of":[6,31],"non-iterative":[7],"correlation-based":[8],"tuning":[9],"with":[10],"guaranteed":[11],"stability.":[12],"In":[13],"this":[14],"method,":[15],"a":[16,32,52],"sufficient":[17],"condition":[18],"for":[19,62],"closed-loop":[20,45],"stability":[21,63],"is":[22,38,49,56,72],"defined":[23],"as":[24],"H":[26],"<sub":[27],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[28],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</sub>":[29],"-norm":[30],"particular":[33],"error":[34],"function.":[35],"norm":[37],"then":[39],"estimated":[40],"using":[41],"data":[42],"from":[43],"one":[44],"experiment.":[46],"The":[47],"method":[48,76],"applied":[50],"to":[51,80],"pick-and-place":[53],"robot.":[54],"It":[55],"shown":[57,73],"that":[58],"proposed":[60],"constraints":[61],"are":[64],"effective":[65],"without":[66],"being":[67],"overly":[68],"conservative.":[69],"Furthermore,":[70],"it":[71],"how":[74],"can":[77],"be":[78],"used":[79],"systematically":[81],"design":[82],"low-order":[83],"controllers.":[84]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}