{"id":"https://openalex.org/W7123338037","doi":"https://doi.org/10.1109/cdc57313.2025.11312954","title":"Implicit Discretization of a PID-like Sliding-Mode Controller for Double Integrator Systems","display_name":"Implicit Discretization of a PID-like Sliding-Mode Controller for Double Integrator Systems","publication_year":2025,"publication_date":"2025-12-09","ids":{"openalex":"https://openalex.org/W7123338037","doi":"https://doi.org/10.1109/cdc57313.2025.11312954"},"language":null,"primary_location":{"id":"doi:10.1109/cdc57313.2025.11312954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","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/A5122847342","display_name":"Martin Zapf","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]},{"id":"https://openalex.org/I4210151799","display_name":"Siemens Healthcare (United States)","ror":"https://ror.org/054962n91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210151799"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Martin Zapf","raw_affiliation_strings":["Siemens,Healthineers AG,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Siemens,Healthineers AG,Germany","institution_ids":["https://openalex.org/I1325886976","https://openalex.org/I4210151799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074985236","display_name":"Benedikt Andritsch","orcid":"https://orcid.org/0000-0001-5026-327X"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Benedikt Andritsch","raw_affiliation_strings":["Institute of Automation and Control at Graz University of Technology,Graz,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Control at Graz University of Technology,Graz,Austria","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068035849","display_name":"Stefan Koch","orcid":"https://orcid.org/0000-0003-4221-0834"},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Stefan Koch","raw_affiliation_strings":["Institute of Automation and Control at Graz University of Technology,Graz,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Control at Graz University of Technology,Graz,Austria","institution_ids":["https://openalex.org/I4092182"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122861415","display_name":"Leonid Fridman","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leonid Fridman","raw_affiliation_strings":["Universidad Nacional Autónoma de México,Facultad de Ingeniería,Mexico City,Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Nacional Autónoma de México,Facultad de Ingeniería,Mexico City,Mexico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5122872685","display_name":"Martin Horn","orcid":null},"institutions":[{"id":"https://openalex.org/I4092182","display_name":"Graz University of Technology","ror":"https://ror.org/00d7xrm67","country_code":"AT","type":"education","lineage":["https://openalex.org/I4092182"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Martin Horn","raw_affiliation_strings":["Institute of Automation and Control at Graz University of Technology,Graz,Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation and Control at Graz University of Technology,Graz,Austria","institution_ids":["https://openalex.org/I4092182"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7939","last_page":"7944"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.2736999988555908,"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":0.2736999988555908,"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/T10868","display_name":"Soft Robotics and Applications","score":0.09719999879598618,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.06480000168085098,"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/discretization","display_name":"Discretization","score":0.9150999784469604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7282000184059143},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7278000116348267},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.45210000872612},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.43220001459121704},{"id":"https://openalex.org/keywords/euler-method","display_name":"Euler method","score":0.3799000084400177}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.9150999784469604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7282000184059143},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7278000116348267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5590999722480774},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.45210000872612},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.43220001459121704},{"id":"https://openalex.org/C75380026","wikidata":"https://www.wikidata.org/wiki/Q868454","display_name":"Euler method","level":3,"score":0.3799000084400177},{"id":"https://openalex.org/C126148662","wikidata":"https://www.wikidata.org/wiki/Q3890355","display_name":"Discretization error","level":3,"score":0.3361000120639801},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31940001249313354},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2924000024795532},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc57313.2025.11312954","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc57313.2025.11312954","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 64th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,20,25,54],"fully":[4],"implicit":[5],"(backward-Euler)":[6],"discretization":[7,31,44],"of":[8,24,64,74],"a":[9,46,50,75],"PID-like":[10,27],"sliding-mode":[11],"controller":[12,28,34,52],"for":[13],"undisturbed":[14],"double-integrator":[15],"systems.":[16],"The":[17,33,57],"method":[18],"inherits":[19],"third-order":[21],"sliding":[22],"accuracy":[23],"continuous-time":[26],"while":[29],"eliminating":[30],"chattering.":[32],"is":[35,68],"compared":[36],"in":[37,53],"simulation":[38],"studies":[39],"to":[40,71],"an":[41],"explicit":[42],"Euler":[43],"and":[45,62],"cascaded":[47],"implementation":[48],"with":[49],"super-twisting":[51],"inner":[55],"loop.":[56],"results":[58],"reveal":[59],"unique":[60],"strengths":[61],"weaknesses":[63],"each":[65],"approach.":[66],"It":[67],"finally":[69],"applied":[70],"patient":[72],"positioning":[73],"real-world":[76],"magnetic":[77],"resonance":[78],"imaging":[79],"system,":[80],"demonstrating":[81],"its":[82],"practical":[83],"applicability.":[84]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-01-14T00:00:00"}