{"id":"https://openalex.org/W1974402935","doi":"https://doi.org/10.1177/02783640022067120","title":"Nonlinear PID Control with Partial State Knowledge: Damping without Derivatives","display_name":"Nonlinear PID Control with Partial State Knowledge: Damping without Derivatives","publication_year":2000,"publication_date":"2000-08-01","ids":{"openalex":"https://openalex.org/W1974402935","doi":"https://doi.org/10.1177/02783640022067120","mag":"1974402935"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022067120","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022067120","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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":"https://openalex.org/A5061650943","display_name":"Brian Armstrong","orcid":null},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Armstrong","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, and Center for                         Industrial Mathematics, UW-Milwaukee P.O. Box 784, Milwaukee, Wisconsin                         53201, USA","Department of Electrical Engineering and Computer Science, and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 784, Milwaukee, Wisconsin 53201, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, and Center for                         Industrial Mathematics, UW-Milwaukee P.O. Box 784, Milwaukee, Wisconsin                         53201, USA","institution_ids":["https://openalex.org/I43579087"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 784, Milwaukee, Wisconsin 53201, USA","institution_ids":["https://openalex.org/I43579087"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075689698","display_name":"Bruce A. Wade","orcid":"https://orcid.org/0000-0002-5802-5847"},"institutions":[{"id":"https://openalex.org/I43579087","display_name":"University of Wisconsin\u2013Milwaukee","ror":"https://ror.org/031q21x57","country_code":"US","type":"education","lineage":["https://openalex.org/I43579087"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bruce A. Wade","raw_affiliation_strings":["Department of Mathematical Sciences and Center for Industrial                         Mathematics, UW-Milwaukee P.O. Box 413, Milwaukee, Wisconsin 53201, USA","Department of Mathematical Sciences and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 413, Milwaukee, Wisconsin 53201, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mathematical Sciences and Center for Industrial                         Mathematics, UW-Milwaukee P.O. Box 413, Milwaukee, Wisconsin 53201, USA","institution_ids":["https://openalex.org/I43579087"]},{"raw_affiliation_string":"Department of Mathematical Sciences and Center for Industrial Mathematics, UW-Milwaukee P.O. Box 413, Milwaukee, Wisconsin 53201, USA","institution_ids":["https://openalex.org/I43579087"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5061650943"],"corresponding_institution_ids":["https://openalex.org/I43579087"],"apc_list":null,"apc_paid":null,"fwci":5.984,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.95107761,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"19","issue":"8","first_page":"715","last_page":"731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.995199978351593,"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/T11081","display_name":"Advanced Control Systems Design","score":0.995199978351593,"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":0.9951000213623047,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9908000230789185,"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":0.8453385829925537},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6234102249145508},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.597446620464325},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.5921311974525452},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5832469463348389},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5259121656417847},{"id":"https://openalex.org/keywords/state-variable","display_name":"State variable","score":0.5055196285247803},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4907017946243286},{"id":"https://openalex.org/keywords/control-lyapunov-function","display_name":"Control-Lyapunov function","score":0.47946298122406006},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4733334183692932},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4587973952293396},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39615076780319214},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3866528570652008},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3453562259674072},{"id":"https://openalex.org/keywords/lyapunov-redesign","display_name":"Lyapunov redesign","score":0.2851199805736542},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2529579699039459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12833872437477112},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.11266940832138062},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.07222071290016174},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07057350873947144}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8453385829925537},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6234102249145508},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.597446620464325},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.5921311974525452},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5832469463348389},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5259121656417847},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.5055196285247803},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4907017946243286},{"id":"https://openalex.org/C201030206","wikidata":"https://www.wikidata.org/wiki/Q5165805","display_name":"Control-Lyapunov function","level":5,"score":0.47946298122406006},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4733334183692932},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4587973952293396},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39615076780319214},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3866528570652008},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3453562259674072},{"id":"https://openalex.org/C37935115","wikidata":"https://www.wikidata.org/wiki/Q6707085","display_name":"Lyapunov redesign","level":4,"score":0.2851199805736542},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2529579699039459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12833872437477112},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.11266940832138062},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.07222071290016174},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07057350873947144},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640022067120","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022067120","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1521930889","https://openalex.org/W1548967897","https://openalex.org/W1675503718","https://openalex.org/W2008796702","https://openalex.org/W2037435786","https://openalex.org/W2062691475","https://openalex.org/W2073007067","https://openalex.org/W2102496525","https://openalex.org/W2106880431","https://openalex.org/W2109987654","https://openalex.org/W2111615339","https://openalex.org/W2116789770","https://openalex.org/W2117536097","https://openalex.org/W2118774025","https://openalex.org/W2132825545","https://openalex.org/W2135824355","https://openalex.org/W2148395187","https://openalex.org/W2157190583","https://openalex.org/W2619247412","https://openalex.org/W2798813531","https://openalex.org/W4293078920","https://openalex.org/W6659882576","https://openalex.org/W6665960101","https://openalex.org/W6686844205"],"related_works":["https://openalex.org/W3217133416","https://openalex.org/W2349796700","https://openalex.org/W2126112326","https://openalex.org/W1970635650","https://openalex.org/W2475132469","https://openalex.org/W1976574339","https://openalex.org/W2766646824","https://openalex.org/W1996957550","https://openalex.org/W2892659929","https://openalex.org/W4230398471"],"abstract_inverted_index":{"Nonlinear":[0],"PID":[1],"(NPID)":[2],"control":[3,20,103,107,147,152,159],"is":[4,78,123,129,160],"implemented":[5],"by":[6],"allowing":[7],"the":[8,41,52,57],"controller":[9],"gains":[10],"to":[11,117,153],"vary":[12],"as":[13],"a":[14,29,85,100,112],"function":[15],"of":[16,51,66,99,119,150],"system":[17],"state.":[18],"NPID":[19,60,126,151],"has":[21,34],"been":[22,35],"previously":[23],"described":[24],"and":[25,27,90,156],"implemented,":[26],"recently":[28],"constructive":[30,42],"Lyapunov":[31,43],"stability":[32],"proof":[33],"given.":[36],"The":[37,115],"controllers":[38,61],"arising":[39],"with":[40,80,108],"method":[44,77],"will":[45],"in":[46],"general":[47,73],"depend":[48],"on":[49],"knowledge":[50,65,122],"full":[53],"state":[54,68,121,134],"vector.":[55],"In":[56],"present":[58],"work,":[59],"that":[62],"operate":[63],"without":[64],"some":[67,133],"variables":[69],"are":[70,93],"demonstrated.":[71],"A":[72],"but":[74],"conservative":[75],"design":[76],"presented":[79],"an":[81],"experimental":[82],"demonstration.":[83],"For":[84],"special":[86],"case,":[87,97],"complete":[88],"necessary":[89],"sufficient":[91],"conditions":[92],"established;":[94],"for":[95,111,125],"this":[96],"simulation":[98],"robotic":[101],"force":[102],"application":[104],"demonstrates":[105],"well-damped":[106],"no":[109],"requirement":[110],"force-rate":[113],"signal.":[114],"extension":[116],"cases":[118],"partial":[120],"important":[124],"control,":[127],"which":[128],"most":[130],"practical":[131],"when":[132],"variables\u2014particularly":[135],"rate":[136],"variables\u2014are":[137],"poorly":[138],"known,":[139],"confounding":[140],"full-state":[141],"feedback":[142],"or":[143],"other":[144],"high-damping":[145],"linear":[146],"designs.":[148],"Extension":[149],"MIMO":[154],"systems":[155],"computed":[157],"torque":[158],"also":[161],"shown.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
