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The controller is defined by a collection of given controllers whose state is shared.
The controller is defined by minimizing the square of the response at a point denoted as error sensor location.
The key point in our study is that the controller is defined based on the instantaneous center of rotation.
Here an analytical controller is defined as the one whose implementation does not require solving a constrained optimization problem numerically.
Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished.
Then, the predictive feedback controller is defined by introducing a filter which weights the last w predicted errors.
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The inhibitory on-off controller was defined as, (13) Stim [ t ] = { On if I f [ t ] < 0 Off Otherwise, where 1.0 A was delivered to the 590 nm LEDs during the 'on' phase, producing ∼11.8 mW mm−2 at the MEA.
The PI controller was defined in a recursive form as, (4) u [ t ] = u [ t − 1 ] + K (e f [ t ] − e f [ t − 1 ] + T s T i e f [ t ] ), where K = 0.1 is the proportional gain, T i = 1 s is the integral time constant, and T s = 0.01 s is the period of the control loop.
The excitatory on-off controller was defined as, (11) I f [ t ] = ∑ k = 0 t e f [ k ], (12) Stim [ t ] = { 5 ms, 465 nm, 13.2 mW · mm − 2 pulse if I f [ t ] > 0 Off Otherwise, where and I f [ t] is the integrated error signal and a maximal stimulation frequency of 10 Hz was enforced.
An appropriate control goal for such controllers is defined and verified.
Our main contribution is that two controllers are defined and combined in the switching control law.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com