{"id":"https://openalex.org/W3095905727","doi":"https://doi.org/10.1109/tcyb.2020.3027502","title":"The Impact of Nonminimum-Phase Zeros on Human-in-the-Loop Control Systems","display_name":"The Impact of Nonminimum-Phase Zeros on Human-in-the-Loop Control Systems","publication_year":2020,"publication_date":"2020-11-05","ids":{"openalex":"https://openalex.org/W3095905727","doi":"https://doi.org/10.1109/tcyb.2020.3027502","mag":"3095905727","pmid":"https://pubmed.ncbi.nlm.nih.gov/33151888"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2020.3027502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.3027502","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5089544830","display_name":"Xingye Zhang","orcid":"https://orcid.org/0000-0001-6111-2661"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xingye Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA"],"raw_orcid":"https://orcid.org/0000-0001-6111-2661","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085615442","display_name":"T. Michael Seigler","orcid":"https://orcid.org/0000-0001-9503-6302"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Michael Seigler","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA"],"raw_orcid":"https://orcid.org/0000-0001-9503-6302","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064538163","display_name":"Jesse B. Hoagg","orcid":"https://orcid.org/0000-0002-2302-2152"},"institutions":[{"id":"https://openalex.org/I143302722","display_name":"University of Kentucky","ror":"https://ror.org/02k3smh20","country_code":"US","type":"education","lineage":["https://openalex.org/I143302722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesse B. Hoagg","raw_affiliation_strings":["Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA"],"raw_orcid":"https://orcid.org/0000-0002-2302-2152","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Kentucky, Lexington, KY, USA","institution_ids":["https://openalex.org/I143302722"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5711,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.65046382,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"52","issue":"6","first_page":"5098","last_page":"5112"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9846000075340271,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.8867161870002747},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.825583815574646},{"id":"https://openalex.org/keywords/transfer-function","display_name":"Transfer function","score":0.7256290316581726},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5922882556915283},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5789290070533752},{"id":"https://openalex.org/keywords/minimum-phase","display_name":"Minimum phase","score":0.5441892743110657},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.5429996252059937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4693753719329834},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.42742472887039185},{"id":"https://openalex.org/keywords/inverse-system","display_name":"Inverse system","score":0.4161006808280945},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3597794473171234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.24475061893463135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23845145106315613},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1448773741722107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13380283117294312}],"concepts":[{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8867161870002747},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.825583815574646},{"id":"https://openalex.org/C81299745","wikidata":"https://www.wikidata.org/wiki/Q334269","display_name":"Transfer function","level":2,"score":0.7256290316581726},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5922882556915283},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5789290070533752},{"id":"https://openalex.org/C170263048","wikidata":"https://www.wikidata.org/wiki/Q489593","display_name":"Minimum phase","level":3,"score":0.5441892743110657},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.5429996252059937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4693753719329834},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.42742472887039185},{"id":"https://openalex.org/C122129529","wikidata":"https://www.wikidata.org/wiki/Q2634828","display_name":"Inverse system","level":3,"score":0.4161006808280945},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3597794473171234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.24475061893463135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23845145106315613},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1448773741722107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13380283117294312},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2020.3027502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.3027502","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:33151888","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33151888","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1002886730","display_name":null,"funder_award_id":"KSEF-148-502-15-364","funder_id":"https://openalex.org/F4320314483","funder_display_name":"Kentucky Science and Engineering Foundation"},{"id":"https://openalex.org/G3958177528","display_name":null,"funder_award_id":"CMMI-1405257","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320314483","display_name":"Kentucky Science and Engineering Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W135863185","https://openalex.org/W178056938","https://openalex.org/W290211900","https://openalex.org/W1237981822","https://openalex.org/W1516801383","https://openalex.org/W1544443493","https://openalex.org/W1590630105","https://openalex.org/W1593028398","https://openalex.org/W1804997726","https://openalex.org/W1885639605","https://openalex.org/W1922715780","https://openalex.org/W1964956827","https://openalex.org/W1965640670","https://openalex.org/W1968531484","https://openalex.org/W1971287128","https://openalex.org/W1980440818","https://openalex.org/W1982754443","https://openalex.org/W1989605405","https://openalex.org/W1991947603","https://openalex.org/W1992309097","https://openalex.org/W1998440482","https://openalex.org/W2000334474","https://openalex.org/W2011700425","https://openalex.org/W2012519971","https://openalex.org/W2017708449","https://openalex.org/W2019013735","https://openalex.org/W2020452703","https://openalex.org/W2025697745","https://openalex.org/W2032139276","https://openalex.org/W2034487019","https://openalex.org/W2034976055","https://openalex.org/W2036560603","https://openalex.org/W2045267947","https://openalex.org/W2049895164","https://openalex.org/W2058406815","https://openalex.org/W2060263298","https://openalex.org/W2062630941","https://openalex.org/W2081817157","https://openalex.org/W2082142922","https://openalex.org/W2084402145","https://openalex.org/W2097861969","https://openalex.org/W2103617625","https://openalex.org/W2104151857","https://openalex.org/W2104857204","https://openalex.org/W2106950756","https://openalex.org/W2114414717","https://openalex.org/W2118214503","https://openalex.org/W2127934730","https://openalex.org/W2132191032","https://openalex.org/W2132600173","https://openalex.org/W2155571773","https://openalex.org/W2156229517","https://openalex.org/W2168828075","https://openalex.org/W2174779721","https://openalex.org/W2345286138","https://openalex.org/W2503106869","https://openalex.org/W2521593502","https://openalex.org/W2565809411","https://openalex.org/W2578352087","https://openalex.org/W2581325886","https://openalex.org/W2750515106","https://openalex.org/W2765404333","https://openalex.org/W2766691787","https://openalex.org/W2782531627","https://openalex.org/W2804458486","https://openalex.org/W2809126097","https://openalex.org/W2914851795","https://openalex.org/W2990776896","https://openalex.org/W4237449103","https://openalex.org/W4249762338","https://openalex.org/W4251318673"],"related_works":["https://openalex.org/W2636385491","https://openalex.org/W2286539782","https://openalex.org/W2334966493","https://openalex.org/W3011220034","https://openalex.org/W2134692602","https://openalex.org/W2022367125","https://openalex.org/W2119893007","https://openalex.org/W2172052050","https://openalex.org/W2019198152","https://openalex.org/W2132315559"],"abstract_inverted_index":{"We":[0,156],"present":[1],"results":[2,138,176],"from":[3],"an":[4,239],"experiment":[5],"in":[6,220,245,272],"which":[7,60,191,263],"33":[8],"human":[9],"subjects":[10,23,193,207,226],"interact":[11,194],"with":[12,55,190,209,228,257],"a":[13,19,32,35,56,64,79,94,115,158],"dynamic":[14,58,146],"system":[15,189,212],"40":[16],"times":[17],"over":[18],"one-week":[20],"period.":[21],"The":[22,67,136,174],"are":[24,213,238],"divided":[25],"into":[26],"three":[27],"groups.":[28],"For":[29],"each":[30,52,168,172],"interaction,":[31],"subject":[33,169],"performs":[34],"command-following":[36],"task,":[37],"where":[38],"the":[39,43,71,112,120,164,179,184,188,192,197,202,206,210,217,225,229,269],"reference":[40],"command":[41],"is":[42,61,265],"same":[44,72],"for":[45,150,262],"all":[46,49],"trials":[47],"and":[48,111],"subjects.":[50],"However,":[51,205],"group":[53],"interacts":[54],"different":[57,75],"system,":[59],"represented":[62],"by":[63],"transfer":[65,68],"function.":[66],"functions":[69],"have":[70],"poles":[73],"but":[74],"zeros.":[76],"One":[77],"has":[78,93,114],"minimum-phase":[80,211],"zero":[81,96,124],"<inline-formula":[82,97,125],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[83,98,126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[84,99,127],"<tex-math":[85,100,128],"notation=\"LaTeX\">$z_{\\textrm":[86,101,129],"{m}}":[87,106],"&lt;":[88],"0$":[89,108],"</tex-math></inline-formula>":[90,109,134],",":[91,110],"another":[92],"nonminimum-phase":[95,123,141,230,236,260],"{n}}":[102],"=":[103],"-":[104],"z_{\\textrm":[105],"&gt;":[107],"last":[113,198],"slower":[116],"(i.e.,":[117],"closer":[118],"to":[119,144,152,154,162,215,241,267],"imaginary":[121],"axis)":[122],"{sn}}":[130],"\\in":[131],"(0,z_{\\textrm":[132],"{n}})$":[133],".":[135],"experimental":[137],"show":[139,177],"that":[140,167,178,235,251],"zeros":[142,237],"tend":[143],"make":[145],"systems":[147,258],"more":[148,222],"difficult":[149,266],"humans":[151,252],"learn":[153],"control.":[155],"use":[157],"subsystem":[159],"identification":[160,175],"algorithm":[161],"identify":[163],"control":[165],"strategy":[166],"uses":[170],"on":[171,196,201,254],"trial.":[173,204],"identified":[180],"feedforward":[181,221],"controllers":[182],"approximate":[183,216,268],"inverse":[185,218,243,270],"dynamics":[186,219,244,271],"of":[187],"better":[195],"trial":[199],"than":[200,224],"first":[203],"interacting":[208,227],"able":[214],"accurately":[223],"system.":[231],"This":[232],"observation":[233],"suggests":[234],"impediment":[240],"approximating":[242],"feedforward.":[246,273],"Finally,":[247],"we":[248],"provide":[249],"evidence":[250],"rely":[253],"feedforward-step-like-control":[255],"strategies":[256],"(e.g.,":[259],"systems)":[261],"it":[264]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}