A design method for undisturbed switching of linear controllers is provided for solving the problem of sudden system response change or an unstable control circuit caused by switching of multiple linear controllers, in which the linear controllers include proportional-integral-derivative (PID), linear-quadratic-Gaussian (LQG), linear active disturbance rejection control (LADRC), H∞, model reference adaptive control (MRAC), and open-loop controllers. Firstly, differentials tbr outputs of the controllers are found, then through controller decision, a controller is selected to be connected to a closed-loop control circuit, and a differential term of the controller connected to the closed-loop control circuit is integrated through a common integrator, thereby ensuring smooth controller switching. The design method has a simple structure and good versatility, is operable, and can be easily applied to various actual control systems without requiring parameter adjustment.

A design method for undisturbed switching of linear controllers is provided for solving the problem of sudden system response change or an unstable control circuit caused by switching of multiple linear controllers, in which the linear controllers include proportional-integral-derivative (PID), linear-quadratic-Gaussian (LQG), linear active disturbance rejection control (LADRC), H∞, model reference adaptive control (MRAC), and open-loop controllers. Firstly, differentials tbr outputs of the controllers are found, then through controller decision, a controller is selected to be connected to a closed-loop control circuit, and a differential term of the controller connected to the closed-loop control circuit is integrated through a common integrator, thereby ensuring smooth controller switching. The design method has a simple structure and good versatility, is operable, and can be easily applied to various actual control systems without requiring parameter adjustment.

A projector, a 3D sensing module and a method for fabricating the projector are provided. The 3D sensing module includes the projector and a receiver. The projector is configured to project a light beam to an object, and the receiver is configured to receive the light beam reflected from the object. The projector includes a circuit board, electronic components, a holder and a lens module. The circuit board has a plurality of first bonding pads and a plurality of second bonding pads on a top surface of the circuit board. The electronic components are bonded on the first bonding pads. The holder has a cavity and third bonding pads bonded on and electrically connected to the second bonding pads. The lens module is disposed in the cavity of the holder.

A rotational feedback control system, and method of using same, including a rotating element, a sensor and a digital controller. The system capable of monitoring, setting, and adjusting the inter-rotational angular velocity within a single revolution of the rotating element. The digital controller implementing a control system with control parameters based on angular position, nominal angular velocity and steering angular velocity.

The present invention provides a control apparatus for performing synchronous control to synchronize driving of a second moving member so as to follow driving of a first moving member, including a feedforward control system that includes a calculator configured to obtain an input/output response of the second moving member and position deviations of the first moving member and the second moving member while driving the first moving member and the second moving member in synchronism with each other, and calculate a feedforward manipulated variable based on the input/output response of the second moving member and the synchronous error between the first moving member and the second moving member obtained from the position deviations of the first moving member and the second moving member.

A method for designing and tuning a PID process controller includes approximating a process as a second order process but in a manner that includes the effects or characteristics introduced by various different devices in the I/O network, and using a lambda tuning method to determine tuning parameters or coefficients for the PID controller. The enhanced controller design and tuning method provides a systematic manner of achieving performance improvement of PID controllers within a process control system and is effective at overcoming challenges arising from signal aliasing, the use of anti-aliasing filtering and the effects of different I/O settings of both traditional and advanced I/O marshalling architectures.

A method for designing and tuning a PID process controller includes approximating a process as a second order process but in a manner that includes the effects or characteristics introduced by various different devices in the I/O network, and using a lambda tuning method to determine tuning parameters or coefficients for the PID controller. The enhanced controller design and tuning method provides a systematic manner of achieving performance improvement of PID controllers within a process control system and is effective at overcoming challenges arising from signal aliasing, the use of anti-aliasing filtering and the effects of different I/O settings of both traditional and advanced I/O marshalling architectures.

A vehicle control device includes a processor. The processor is configured to: output a torque command value related to a rotation speed of a wheel of a vehicle; specify an estimated value which is a value obtained by estimating the rotation speed of the wheel based on the torque command value; and determine a parameter based on an error between the estimated value and a measured value which is a value obtained by measuring the rotation speed of the wheel. The torque command value is determined by a feedforward control using a target value which is a value as a target of the rotation speed of the wheel and the parameter.

A controller and related system and method for controlling a choke for choking fluid flow are configured to take into account non-linear behaviors of the choke, to allow more accurate and effective control of the choke. To obtain a desired pressure drop across a choke valve, the controller is configured to monitor the position of a choke actuator coupled to the choke valve and the pressure at the inlet of the choke valve. The controller calculates an adaptive proportional gain coefficient, and optionally adaptive integral and derivative coefficients, based on the choke actuator position, to help mitigate the effects of non-linear behaviors of the choke and, where necessary, based on the inlet pressure, the controller calculates an augmentation correction to address any instability in the choke. The controller then commands the choke actuator accordingly to adjust the flow area through the choke valve.

A controller and related system and method for controlling a choke for choking fluid flow are configured to take into account non-linear behaviors of the choke, to allow more accurate and effective control of the choke. To obtain a desired pressure drop across a choke valve, the controller is configured to monitor the position of a choke actuator coupled to the choke valve and the pressure at the inlet of the choke valve. The controller calculates an adaptive proportional gain coefficient, and optionally adaptive integral and derivative coefficients, based on the choke actuator position, to help mitigate the effects of non-linear behaviors of the choke and, where necessary, based on the inlet pressure, the controller calculates an augmentation correction to address any instability in the choke. The controller then commands the choke actuator accordingly to adjust the flow area through the choke valve.