{"id":"https://openalex.org/W4416513596","doi":"https://doi.org/10.1109/tie.2025.3618866","title":"Modeling and Tracking Control of Nondifferentiable Sandwiched Dynamic Systems: Case Study on Gear Transmission Servo Systems","display_name":"Modeling and Tracking Control of Nondifferentiable Sandwiched Dynamic Systems: Case Study on Gear Transmission Servo Systems","publication_year":2025,"publication_date":"2025-11-21","ids":{"openalex":"https://openalex.org/W4416513596","doi":"https://doi.org/10.1109/tie.2025.3618866"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3618866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3618866","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-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":null,"display_name":"Nan Xu","orcid":"https://orcid.org/0009-0007-4387-9982"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Xu","raw_affiliation_strings":["School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0007-4387-9982","affiliations":[{"raw_affiliation_string":"School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101683360","display_name":"Yuan Jiang","orcid":"https://orcid.org/0009-0003-8536-7994"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Jiang","raw_affiliation_strings":["School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-8536-7994","affiliations":[{"raw_affiliation_string":"School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100618284","display_name":"Shihua Li","orcid":"https://orcid.org/0000-0001-9044-7137"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihua Li","raw_affiliation_strings":["School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9044-7137","affiliations":[{"raw_affiliation_string":"School of Automation, Key Laboratory of Measurement and Control of CSE, Ministry of Education, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076212272","display_name":"Chun\u2010Yi Su","orcid":"https://orcid.org/0000-0002-1869-5563"},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chun-Yi Su","raw_affiliation_strings":["Gina Cody School of Engineering and Computer Science, Concordia University, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1869-5563","affiliations":[{"raw_affiliation_string":"Gina Cody School of Engineering and Computer Science, Concordia University, Montreal, QC, Canada","institution_ids":["https://openalex.org/I60158472"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38400101,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"3","first_page":"4782","last_page":"4792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.18000000715255737,"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":0.18000000715255737,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.1736000031232834,"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":0.11630000174045563,"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":0.7890999913215637},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.6355000138282776},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.6223000288009644},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5605999827384949},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5583999752998352},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5436999797821045},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4749999940395355},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47279998660087585},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.42559999227523804}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7890999913215637},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.6355000138282776},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.6223000288009644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.569100022315979},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5605999827384949},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5583999752998352},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5436999797821045},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4749999940395355},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45660001039505005},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.42559999227523804},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C49503481","wikidata":"https://www.wikidata.org/wiki/Q640815","display_name":"Servomechanism","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.38940000534057617},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3734999895095825},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.35989999771118164},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3589000105857849},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3310999870300293},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.311599999666214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30239999294281006},{"id":"https://openalex.org/C113608303","wikidata":"https://www.wikidata.org/wiki/Q1056835","display_name":"Transmission system","level":3,"score":0.2687000036239624},{"id":"https://openalex.org/C90377204","wikidata":"https://www.wikidata.org/wiki/Q1052594","display_name":"Uniform boundedness","level":3,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3618866","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3618866","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5740907510","display_name":null,"funder_award_id":"62025302","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Many":[0],"practical":[1],"engineering":[2],"systems,":[3,66],"classified":[4],"as":[5,57],"nondifferentiable":[6,22,193],"sandwiched":[7,190],"dynamic":[8,78,115],"systems":[9,30,191],"(NSDSs),":[10],"pose":[11],"significant":[12],"challenges":[13],"to":[14,18,131,138,188],"controller":[15,91],"design":[16],"due":[17],"their":[19],"inherent":[20],"unknown":[21,69],"nonlinearities.":[23],"Among":[24],"these,":[25],"gear":[26,47],"transmission":[27],"servo":[28],"(GTS)":[29],"constitute":[31],"a":[32,101,139],"prominent":[33],"research":[34],"focus,":[35],"exemplifying":[36],"the":[37,134,143,146,158,161,166],"complexities":[38],"associated":[39],"with":[40,145],"modeling":[41],"and":[42,62,84,90,114,172,184],"control":[43,60,104,117,179],"in":[44,164],"NSDSs.":[45],"Specifically,":[46],"backlash":[48],"introduces":[49],"internal":[50],"dead-zone":[51,72,170],"nonlinearities,":[52],"causing":[53],"detrimental":[54],"effects":[55,168],"such":[56],"vibrations,":[58],"diminished":[59],"accuracy,":[61],"potential":[63],"instability.":[64],"Such":[65],"characterized":[67],"by":[68,82],"parameters":[70],"including":[71],"characteristics,":[73],"form":[74],"fourth-order":[75],"nonlower":[76,196],"triangular":[77,197],"structures,":[79],"further":[80],"complicated":[81],"uncertainties":[83],"external":[85],"disturbances":[86],"that":[87,133],"impede":[88],"convergence":[89],"performance.":[92],"To":[93],"address":[94],"these":[95],"critical":[96],"challenges,":[97],"this":[98,178],"article":[99],"proposes":[100],"novel":[102],"block-structured":[103],"framework":[105,180],"(BSCF)":[106],"integrating":[107],"feedforward":[108],"compensation,":[109],"nonlinear":[110],"extended":[111,187],"state":[112],"observers,":[113],"surface":[116],"techniques,":[118],"all":[119],"built":[120],"upon":[121],"system":[122],"identification":[123],"results.":[124],"A":[125],"rigorous":[126],"Lyapunov-based":[127],"analysis":[128],"is":[129],"provided":[130],"establish":[132],"tracking":[135,175],"error":[136],"converges":[137],"bounded":[140],"neighborhood":[141],"of":[142,160,169],"origin,":[144],"ultimate":[147],"bound":[148],"being":[149],"adjustable":[150],"through":[151],"suitable":[152],"parameter":[153],"tuning.":[154],"Experimental":[155],"results":[156],"confirm":[157],"effectiveness":[159],"proposed":[162],"strategy":[163],"eliminating":[165],"adverse":[167],"nonlinearities":[171,194],"achieving":[173],"satisfactory":[174],"accuracy.":[176],"Furthermore,":[177],"demonstrates":[181],"broad":[182],"applicability":[183],"can":[185],"be":[186],"other":[189],"featuring":[192],"and/or":[195],"structures.":[198]},"counts_by_year":[],"updated_date":"2026-02-28T06:14:18.631764","created_date":"2025-11-23T00:00:00"}
