{'fraction_non_alphanumeric': 0.0182328190743338, 'fraction_numerical': 0.0, 'mean_word_length': 5.4324324324324325, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Position control of servodrives using a cascade proportional integral retarded controller

The goal of this work is to describe a new delay-based control law called the Cascade Proportional Integral Retarded (CPIR) controller and its application to the position control of DC servodrives. The proposed controller has an inner loop-outer loop structure. The inner loop corresponds to an integral retarded (IR) controller that regulates the servodrive angular velocity. A proportional (P) controller closes the outer loop whose goal is to regulate the servodrive angular position. A tuning methodology for the CPIR controller is proposed and experiments using a laboratory prototype allow assessing its performance.