{"id":"https://openalex.org/W2571518290","doi":"https://doi.org/10.1109/cdc.2016.7799113","title":"Repetitive control of non-minimum phase systems along B-spline trajectories","display_name":"Repetitive control of non-minimum phase systems along B-spline trajectories","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2571518290","doi":"https://doi.org/10.1109/cdc.2016.7799113","mag":"2571518290"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1129983","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070487792","display_name":"Luigi Biagiotti","orcid":"https://orcid.org/0000-0002-2343-6929"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Biagiotti","raw_affiliation_strings":["Department of Engineering \u201cEnzo Ferrari\u201d, University of Modena and Reggio Emilia, Modena, Italy","Department of Engineering \"Enzo Ferrari\", University of Modena and Reggio Emilia, Modena, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering \u201cEnzo Ferrari\u201d, University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]},{"raw_affiliation_string":"Department of Engineering \"Enzo Ferrari\", University of Modena and Reggio Emilia, Modena, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075056195","display_name":"Federico Califano","orcid":"https://orcid.org/0000-0001-8693-0900"},"institutions":[{"id":"https://openalex.org/I2801039369","display_name":"Marconi University","ror":"https://ror.org/00j0rk173","country_code":"IT","type":"education","lineage":["https://openalex.org/I2801039369"]},{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]},{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Califano","raw_affiliation_strings":["Department of Electrical, Electronic and Information Engineering \u201cGuglielmo Marconi\u201d, University of Bologna, Bologna, Italy","Department of Electrical, Electronic and Information Engineering \"Guglielmo Marconi\", University of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering \u201cGuglielmo Marconi\u201d, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I2801039369","https://openalex.org/I4210098188","https://openalex.org/I9360294"]},{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering \"Guglielmo Marconi\", University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I2801039369","https://openalex.org/I4210098188","https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082136401","display_name":"Claudio Melchiorri","orcid":"https://orcid.org/0000-0002-8475-6782"},"institutions":[{"id":"https://openalex.org/I2801039369","display_name":"Marconi University","ror":"https://ror.org/00j0rk173","country_code":"IT","type":"education","lineage":["https://openalex.org/I2801039369"]},{"id":"https://openalex.org/I4210098188","display_name":"Laboratori Guglielmo Marconi (Italy)","ror":"https://ror.org/01r3vad87","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210098188"]},{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Melchiorri","raw_affiliation_strings":["Department of Electrical, Electronic and Information Engineering \u201cGuglielmo Marconi\u201d, University of Bologna, Bologna, Italy","Department of Electrical, Electronic and Information Engineering \"Guglielmo Marconi\", University of Bologna, Bologna, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering \u201cGuglielmo Marconi\u201d, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I2801039369","https://openalex.org/I4210098188","https://openalex.org/I9360294"]},{"raw_affiliation_string":"Department of Electrical, Electronic and Information Engineering \"Guglielmo Marconi\", University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I2801039369","https://openalex.org/I4210098188","https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"5496","last_page":"5501"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T11749","display_name":"Iterative Learning Control Systems","score":1.0,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9588000178337097,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9549000263214111,"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":0.8469585180282593},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.711947500705719},{"id":"https://openalex.org/keywords/minimum-phase","display_name":"Minimum phase","score":0.6187567710876465},{"id":"https://openalex.org/keywords/repetitive-control","display_name":"Repetitive control","score":0.6168228983879089},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.572219967842102},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5533763766288757},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5523456335067749},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46427151560783386},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.46419110894203186},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41199612617492676},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4101855754852295},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38688719272613525},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.25843530893325806},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.20459863543510437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1582995057106018},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1554783582687378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08434635400772095}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8469585180282593},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.711947500705719},{"id":"https://openalex.org/C170263048","wikidata":"https://www.wikidata.org/wiki/Q489593","display_name":"Minimum phase","level":3,"score":0.6187567710876465},{"id":"https://openalex.org/C2780842517","wikidata":"https://www.wikidata.org/wiki/Q7314001","display_name":"Repetitive control","level":3,"score":0.6168228983879089},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.572219967842102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5533763766288757},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5523456335067749},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46427151560783386},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.46419110894203186},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41199612617492676},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4101855754852295},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38688719272613525},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.25843530893325806},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.20459863543510437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1582995057106018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1554783582687378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08434635400772095},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2016.7799113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:cris.unibo.it:11585/599694","is_oa":false,"landing_page_url":"http://hdl.handle.net/11585/599694","pdf_url":null,"source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"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"},{"id":"pmh:oai:iris.unimore.it:11380/1129983","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1129983","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1129983","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1129983","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1515926482","https://openalex.org/W1993938889","https://openalex.org/W2002316083","https://openalex.org/W2021391807","https://openalex.org/W2165878769","https://openalex.org/W2176146632","https://openalex.org/W2200678917","https://openalex.org/W2225813005","https://openalex.org/W2610026116","https://openalex.org/W6736716497"],"related_works":["https://openalex.org/W2316852638","https://openalex.org/W2167501311","https://openalex.org/W3011220034","https://openalex.org/W2077728074","https://openalex.org/W2984509520","https://openalex.org/W2089306986","https://openalex.org/W2128586823","https://openalex.org/W2383805813","https://openalex.org/W1906620181","https://openalex.org/W2050554501"],"abstract_inverted_index":{"In":[0,73],"this":[1,112],"paper,":[2],"a":[3,28,70,122,166,172],"novel":[4],"repetitive":[5,123],"control":[6,40,89,124,153],"scheme":[7,125,154],"is":[8],"presented":[9],"and":[10,108,115,142,158],"discussed,":[11],"based":[12],"on":[13],"the":[14,36,44,55,59,75,138,143,151],"so":[15],"called":[16],"B-spline":[17],"filters.":[18],"This":[19],"type":[20],"of":[21,38,62,90,96,150],"dynamic":[22,66],"filters":[23],"are":[24,33,49,145],"able":[25],"to":[26,105,128],"provide":[27],"Bspline":[29],"trajectory":[30,45,116,141],"if":[31],"they":[32,48],"fed":[34],"with":[35,58,69,103],"sequence":[37],"proper":[39],"points":[41],"that":[42,126,137],"define":[43],"itself.":[46],"Therefore,":[47],"ideal":[50],"tools":[51],"for":[52,64,87],"generating":[53],"online":[54],"reference":[56,140],"signal":[57],"prescribed":[60],"level":[61],"smoothness":[63],"driving":[65],"systems,":[67],"e.g.":[68],"feedforward":[71],"compensator.":[72],"particular,":[74],"so-called":[76],"Continuous":[77],"Zero":[78],"Phase":[79],"Error":[80],"Tracking":[81],"Controller":[82],"(ZPETC)":[83],"can":[84],"be":[85],"used":[86],"tracking":[88],"non-minimum":[91,168],"phase":[92,169],"systems":[93],"but":[94],"because":[95],"its":[97,159],"open-loop":[98],"nature":[99],"cannot":[100],"guarantee":[101],"robustness":[102],"respect":[104],"modelling":[106],"errors":[107,131],"exogenous":[109],"disturbances.":[110],"For":[111],"reason,":[113],"ZPETC":[114],"generator":[117],"have":[118,161],"been":[119,156,162],"embedded":[120],"in":[121,133],"allows":[127],"nullify":[129],"interpolation":[130],"even":[132],"non-ideal":[134],"conditions,":[135],"provided":[136],"desired":[139],"disturbances":[144],"periodic.":[146],"The":[147],"asymptotic":[148],"stability":[149],"overall":[152],"has":[155],"proved":[157],"performances":[160],"demonstrated":[163],"by":[164],"considering":[165],"well-known":[167],"plant,":[170],"i.e.":[171],"flexible":[173],"link":[174],"arm.":[175]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}