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The neural network training algorithm, behavior of learning function, and development of the neural controller can be seen in our previous publication [19].
The compensating controller can be seen as a standalone loop added to the system to compensate the effects of fault guaranteeing the stability of the system.
In the top of the figure, the voltage applied to the spark plug during a normal sparking is reported, in the bottom, a cut in the pulse, introduced by the traction controller, can be seen.
The input and output angles of the position controller can be seen in Figure 8 when the reference angle of the controller is updated at a rate of 125 Hz.
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Compared with PID controller or fuzzy PID controller, it can be seen that the control performance with the proposed controller is better and relatively stable at different setting pressure.
This approach results in a type of discrete-time controller that can be seen as a simple modification of an emulation controller obtained by sample and hold of the continuous-time IDA-PBC controller.
By comparing the performances of Controllers 3e and 4e, it can be seen that a switching control of the angular speed (Controller 3e) performs better than the one of the forward speed (Controller 4e).
It can be seen that the controller achieves good performance only with position feedback while without velocity feedback.
Ramping time can be seen as a controller's gain in PFC; the larger the (t_r) the smaller the gain of the controller.
The paper shows that the shunt impedance can be seen as a controller in a state space model of the electro-mechanical system; this makes it possible to use the mentioned approach to find the layout of the impedance for different kinds of control problems.
For the stabilization control, it can be seen that the proposed controller (7) can be reduced to a very simple proportional feedback controller.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com