TY  - CONF
AU  - Lazarević, Mihailo
AU  - Radojević, Darko
AU  - Mandić, Petar
AU  - Pišl, Stjepko
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7233
AB  - In this paper, the problem of finite-time stability (FTS) for a class of nonstationary neutral nonlinear perturbed fractional-order time delay systems (FOTDS) is studied. Based on an extended form of generalized Gronwall inequality, a new FTS stability criterion for such systems is established in terms of the Mittag-Leffler function. Finally, a numerical example is given to illustrate the effectiveness and applicability of the proposed theoretical results.
PB  - Belgrade: Serbian Society of Mechanics
C3  - 9th International Congress of the Serbian Society of Mechanics, July 5-7, July, 2023, Vrnjačka Banja, Serbia
T1  - Further results on robust finite-time stability nonstationary two-term neutral nonlinear perturbed fractional - order  time delay systems
EP  - 234
SP  - 225
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7233
ER  - 

@conference{
author = "Lazarević, Mihailo and Radojević, Darko and Mandić, Petar and Pišl, Stjepko",
year = "2023",
abstract = "In this paper, the problem of finite-time stability (FTS) for a class of nonstationary neutral nonlinear perturbed fractional-order time delay systems (FOTDS) is studied. Based on an extended form of generalized Gronwall inequality, a new FTS stability criterion for such systems is established in terms of the Mittag-Leffler function. Finally, a numerical example is given to illustrate the effectiveness and applicability of the proposed theoretical results.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "9th International Congress of the Serbian Society of Mechanics, July 5-7, July, 2023, Vrnjačka Banja, Serbia",
title = "Further results on robust finite-time stability nonstationary two-term neutral nonlinear perturbed fractional - order  time delay systems",
pages = "234-225",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7233"
}

Lazarević, M., Radojević, D., Mandić, P.,& Pišl, S.. (2023). Further results on robust finite-time stability nonstationary two-term neutral nonlinear perturbed fractional - order  time delay systems. in 9th International Congress of the Serbian Society of Mechanics, July 5-7, July, 2023, Vrnjačka Banja, Serbia
Belgrade: Serbian Society of Mechanics., 225-234.
https://hdl.handle.net/21.15107/rcub_machinery_7233

Lazarević M, Radojević D, Mandić P, Pišl S. Further results on robust finite-time stability nonstationary two-term neutral nonlinear perturbed fractional - order  time delay systems. in 9th International Congress of the Serbian Society of Mechanics, July 5-7, July, 2023, Vrnjačka Banja, Serbia. 2023;:225-234.
https://hdl.handle.net/21.15107/rcub_machinery_7233 .

Lazarević, Mihailo, Radojević, Darko, Mandić, Petar, Pišl, Stjepko, "Further results on robust finite-time stability nonstationary two-term neutral nonlinear perturbed fractional - order  time delay systems" in 9th International Congress of the Serbian Society of Mechanics, July 5-7, July, 2023, Vrnjačka Banja, Serbia (2023):225-234,
https://hdl.handle.net/21.15107/rcub_machinery_7233 .

TY  - CONF
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/7237
AB  - This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.
PB  - Belgrade: Serbian Society of Mechanics
C3  - Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
T1  - ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM
EP  - 282
SP  - 275
UR  - https://hdl.handle.net/21.15107/rcub_machinery_7237
ER  - 

@conference{
author = "Mandić, Petar and Šekara, Tomislav and Lazarević, Mihailo",
year = "2023",
abstract = "This paper deals with a topic of robot following a trajectory in three-dimensional space with a prescribed velocity law. Considering the nonlinear nature of robot manipulators, and high demands regarding tracking performances, this task is very challenging, but also very popular in control community because of its importance in industrial applications. To tackle successfully this problem, we proposed a resonant controller, which outperforms classical control schemes usually employed in this situation. In this particular case, robot manipulator needs to follow an ellipse trajectory with constant speed along the curve. First, mathematical model of three degrees of freedom robot arm is derived with included actuator dynamics. Then, numerical solution of inverse kinematics problem needs to be calculated in order to obtain desired trajectory in joint space. Third, analytical procedure for designing resonant controller is given, with parameters of the controller chosen in order to achieve a good performance/robustness trade-off, which is a key element in modern control design. Finally, proposed control scheme is tested and results of robot simulation are given in the end. Final remarks conclude the paper.",
publisher = "Belgrade: Serbian Society of Mechanics",
journal = "Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023",
title = "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM",
pages = "282-275",
url = "https://hdl.handle.net/21.15107/rcub_machinery_7237"
}

Mandić, P., Šekara, T.,& Lazarević, M.. (2023). ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023
Belgrade: Serbian Society of Mechanics., 275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237

Mandić P, Šekara T, Lazarević M. ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM. in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023. 2023;:275-282.
https://hdl.handle.net/21.15107/rcub_machinery_7237 .

Mandić, Petar, Šekara, Tomislav, Lazarević, Mihailo, "ANALYTICAL DESIGN OF RESONANT CONTROLLER APPLIED FOR SOLVING ROBOT ARM TRACKING PROBLEM" in Proceedings 9th International Congress of Serbian Society of Mechanics Vrnjačka Banja, Serbia, July 5-7, 2023 (2023):275-282,
https://hdl.handle.net/21.15107/rcub_machinery_7237 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Radojević, Darko
AU  - Mandić, Petar
AU  - Pišl, Stjepko
AU  - Šekara, Tomislav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6800
AB  - U ovom radu prvo se razmatra jedan mehanički sistem gde je u cilju smanjenja neželjenih vibracija primenjen prigušni viskoelastični element tipa Scot-Blair-a frakcionog reda 0<alpha≤1.  Primenjeno je upravljanje u povratnoj sprezi sa kašnjenjem koji  uključuje prvi i drugi izvod vektora stanja sa kašnjenjem.  Posebno, razmatra se slučaj zatvorenog neutralnog sistema sa  kašnjenjem frakcionog reda alpha=1/2, gde su dobijeni dovoljni  uslovi stabilnosti na konačnom vremenskom intervalu. Takođe,  razmatran je i slucaj potiskivanja samopobudnih (chattering)
oscilacija u procesu rezanja metala. Predloženo je upravljanje u  povratnoj sprezi sa kašnjenjem koji uključuje i drugi izvod  vektora stanja sa kašnjenjem. Formiran je odgovarajući kriterijum stabilnosti na konačnom vremenskom inervalu. Na kraju, efikasnost predloženog pristupa je ilustrovana na dva pogodno izabrana numerička primera
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina
T1  - Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu
EP  - 290
SP  - 285
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6800
ER  - 

@conference{
author = "Lazarević, Mihailo and Radojević, Darko and Mandić, Petar and Pišl, Stjepko and Šekara, Tomislav",
year = "2023",
abstract = "U ovom radu prvo se razmatra jedan mehanički sistem gde je u cilju smanjenja neželjenih vibracija primenjen prigušni viskoelastični element tipa Scot-Blair-a frakcionog reda 0<alpha≤1.  Primenjeno je upravljanje u povratnoj sprezi sa kašnjenjem koji  uključuje prvi i drugi izvod vektora stanja sa kašnjenjem.  Posebno, razmatra se slučaj zatvorenog neutralnog sistema sa  kašnjenjem frakcionog reda alpha=1/2, gde su dobijeni dovoljni  uslovi stabilnosti na konačnom vremenskom intervalu. Takođe,  razmatran je i slucaj potiskivanja samopobudnih (chattering)
oscilacija u procesu rezanja metala. Predloženo je upravljanje u  povratnoj sprezi sa kašnjenjem koji uključuje i drugi izvod  vektora stanja sa kašnjenjem. Formiran je odgovarajući kriterijum stabilnosti na konačnom vremenskom inervalu. Na kraju, efikasnost predloženog pristupa je ilustrovana na dva pogodno izabrana numerička primera",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina",
title = "Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu",
pages = "290-285",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6800"
}

Lazarević, M., Radojević, D., Mandić, P., Pišl, S.,& Šekara, T.. (2023). Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu. in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 285-290.
https://hdl.handle.net/21.15107/rcub_machinery_6800

Lazarević M, Radojević D, Mandić P, Pišl S, Šekara T. Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu. in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina. 2023;:285-290.
https://hdl.handle.net/21.15107/rcub_machinery_6800 .

Lazarević, Mihailo, Radojević, Darko, Mandić, Petar, Pišl, Stjepko, Šekara, Tomislav, "Upravljanje u povratnoj sprezi sa kašnjenjem određene klase mehaničkih sistema necelog i celog reda: neka pitanja stabilnosti i stabilizacije na konačnom vremenskom intervalu" in Zbornik radova XXII međunarodni simpozijum INFOTEH-JAHORINA 2023 15 - 17. mart 2023, Jahorina, Istočno Sarajevo, Republika Srpska, Bosna i Hercegovina (2023):285-290,
https://hdl.handle.net/21.15107/rcub_machinery_6800 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Maione, Guido
AU  - Lino, Paolo
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4079
AB  - This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.
PB  - Univerzitet u Beogradu, Mašinski fakultet
C3  - Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
T1  - Application of iterative learning control for path following of 3DOFS robot arm
EP  - 117
SP  - 116
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4079
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Maione, Guido and Lino, Paolo",
year = "2022",
abstract = "This paper deals with a topic of robot trajectory control which is very popular in academic
and industrial research community. The task is very challenging considering the nonlinear
nature of robot manipulators, as well as high demands in tracking performances [1]. To
accomplish this, we proposed a combined feedforward-feedback control scheme [2], which
outperforms each of these two subroutines when run separately. The first one is based on
iterative learning algorithm of proportional-derivative (PD) type, while the second one is
classical feedback controller, also of PD type [3]. Parameters of the controller are designed to
achieve good performance/robustness trade-off, which is a key element in modern control
design. Mathematical model of three degrees of freedom robot arm is derived with included
actuator dynamics [4].
One of typical industrial applications of robot manipulators is a task of following a trajectory
in space with prescribed velocity law. Processes like arc welding, painting, laser cutting, object
inspection etc., are some of which wherein such demands can be met. In this particular case,
robot manipulator needs to follow a circular trajectory with constant speed along the path.
Numerical solution of inverse kinematics problem needs to be addressed first in order to obtain
desired trajectory in joint space. Then, proposed control scheme is employed and some
preliminary results are given in figures below. Ten consecutive simulations of robot trying to
follow a predetermined path are performed using the iterative learning control algorithm. In
each subsequent simulation tracking performances are improving, reducing the maximum
distance error by ten times in overall. Furthermore, by increasing the number of simulations,
the error can be made arbitrarily small. Also, this control design allows following of different
types of trajectories, with various velocity laws.",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
journal = "Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.",
title = "Application of iterative learning control for path following of 3DOFS robot arm",
pages = "117-116",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4079"
}

Mandić, P., Lazarević, M., Šekara, T., Maione, G.,& Lino, P.. (2022). Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.
Univerzitet u Beogradu, Mašinski fakultet., 116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079

Mandić P, Lazarević M, Šekara T, Maione G, Lino P. Application of iterative learning control for path following of 3DOFS robot arm. in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022.. 2022;:116-117.
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Maione, Guido, Lino, Paolo, "Application of iterative learning control for path following of 3DOFS robot arm" in Book of abstracts: 1st International Conference on Mathematical Modelling in Mechanics and Engineering Mathematical Institute SANU, 08-10. September, 2022. (2022):116-117,
https://hdl.handle.net/21.15107/rcub_machinery_4079 .

TY  - JOUR
AU  - Mandić, Petar
AU  - Bošković, Marko C.
AU  - Sekara, Tomislav B.
AU  - Lazarević, Mihailo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/90
AB  - This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.
PB  - Taylor & Francis Ltd, Abingdon
T2  - International Journal of Control
T1  - A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle
DO  - 10.1080/00207179.2021.1912392
ER  - 

@article{
author = "Mandić, Petar and Bošković, Marko C. and Sekara, Tomislav B. and Lazarević, Mihailo",
year = "2021",
abstract = "This paper presents a new optimisation method for PID controller cascaded with a lead-lag compensator (PIDC). Parameters of the controller are obtained by solving the constrained optimisation problem. We propose two variants of the optimality criterion. The first one is defined through the max-min optimisation problem wherein objective function is the amplitude frequency response of the PIDC controller. The second one is based on an effective approximation of the minimum value of the amplitude frequency response of the PIDC controller. Consequently, we obtain a computationally less expensive problem. Both variants of optimality criterion result in efficient load disturbance and noise rejection, while robustness is ensured by constraining the value of the maximum sensitivity Ms. Good reference shaping is supported with proper constraints based on the Amplitude Optimum (AO) principle. Numerous batches of processes typically encountered in the industry are used to demonstrate the effectiveness of the proposed design method.",
publisher = "Taylor & Francis Ltd, Abingdon",
journal = "International Journal of Control",
title = "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle",
doi = "10.1080/00207179.2021.1912392"
}

Mandić, P., Bošković, M. C., Sekara, T. B.,& Lazarević, M.. (2021). A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control
Taylor & Francis Ltd, Abingdon..
https://doi.org/10.1080/00207179.2021.1912392

Mandić P, Bošković MC, Sekara TB, Lazarević M. A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. in International Journal of Control. 2021;.
doi:10.1080/00207179.2021.1912392 .

Mandić, Petar, Bošković, Marko C., Sekara, Tomislav B., Lazarević, Mihailo, "A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle" in International Journal of Control (2021),
https://doi.org/10.1080/00207179.2021.1912392 . .

TY  - CONF
AU  - Cvetković, Boško
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Lino, Paolo
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4092
AB  - In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
T1  - Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system
EP  - 353
SP  - 344
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4092
ER  - 

@conference{
author = "Cvetković, Boško and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Lino, Paolo",
year = "2021",
abstract = "In this paper, an advanced iterative learning control algorithm (ILC) is introduced in order to
solve the output tracking problem of a robotic manipulator with three degrees of freedom.
Iterative fractional order PDμ type control is located in feedforward path, and combined together
with classical feedback PD controller. Fractional derivative μ provides additional flexibility in
adjusting the output performances. Parameters of the feedback controller are derived using a
modern approach which takes into consideration both performance and robustness characteristics
of the closed loop system. This is achieved by a suitable selection of only one adjustable
parameter. Mathematical model of robotic manipulator is derived together with actuator
dynamics, and it is shown that in the presence of high gear ratio the nonlinear effects can be
neglected, and only linear model can be observed. The efficiency of the proposed control
algorithm is demonstrated by simulations, in which robotic arm needs to follow desired trajectory
given in joint space. Excellent tracking performances are achieved only after few iterations.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.",
title = "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system",
pages = "353-344",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4092"
}

Cvetković, B., Lazarević, M., Mandić, P., Šekara, T.,& Lino, P.. (2021). Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.
Beograd : Srpsko društvo za mehaniku., 344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092

Cvetković B, Lazarević M, Mandić P, Šekara T, Lino P. Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system. in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021.. 2021;:344-353.
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

Cvetković, Boško, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Lino, Paolo, "Open closed-loop PDmi/PD type ILC control of Neuroarm robotic system" in 8th International Congress of Serbian Society of Mechanics, Kragujevac, Serbia, June 28-30 2021. (2021):344-353,
https://hdl.handle.net/21.15107/rcub_machinery_4092 .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Ostojić, Srdan
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3584
AB  - Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method.
PB  - Sage Publications Ltd, London
T2  - Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie
T1  - Further results on advanced robust iterative learning control and modeling of robotic systems
EP  - 4734
IS  - 20
SP  - 4719
VL  - 235
DO  - 10.1177/0954406220965996
ER  - 

@article{
author = "Lazarević, Mihailo and Mandić, Petar and Ostojić, Srdan",
year = "2021",
abstract = "Recently, calculus of general order alpha is an element of R has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling of the dynamics of complex systems. In this work, some attention will be devoted to the problem of viscous friction in robotic joints. The calculus of general order and the calculus of variations are utilized for the modeling of viscous friction which is extended to the fractional derivative of the angular displacement. In addition, to solve the output tracking problem of a robotic manipulator with three DOFs with revolute joints in the presence of model uncertainties, robust advanced iterative learning control (AILC) is introduced. First, a feedback linearization procedure of a nonlinear robotic system is applied. Then, the proposed intelligent feedforward-feedback AILC algorithm is introduced. The convergence of the proposed AILC scheme is established in the time domain in detail. Finally, simulations on the given robotic arm system confirm the effectiveness of the robust AILC method.",
publisher = "Sage Publications Ltd, London",
journal = "Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie",
title = "Further results on advanced robust iterative learning control and modeling of robotic systems",
pages = "4734-4719",
number = "20",
volume = "235",
doi = "10.1177/0954406220965996"
}

Lazarević, M., Mandić, P.,& Ostojić, S.. (2021). Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie
Sage Publications Ltd, London., 235(20), 4719-4734.
https://doi.org/10.1177/0954406220965996

Lazarević M, Mandić P, Ostojić S. Further results on advanced robust iterative learning control and modeling of robotic systems. in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie. 2021;235(20):4719-4734.
doi:10.1177/0954406220965996 .

Lazarević, Mihailo, Mandić, Petar, Ostojić, Srdan, "Further results on advanced robust iterative learning control and modeling of robotic systems" in Proceedings of The Institution of Mechanical Engineers Part C-Journal of Mechanical Engineering Scie, 235, no. 20 (2021):4719-4734,
https://doi.org/10.1177/0954406220965996 . .

TY  - CONF
AU  - Mandić, Petar
AU  - Lino, Paolo
AU  - Maione, Guido
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3348
AB  - Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.
PB  - Elsevier, Amsterdam
C3  - IFAC PAPERSONLINE
T1  - Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator
EP  - 3674
IS  - 2
SP  - 3669
VL  - 53
DO  - 10.1016/j.ifacol.2020.12.2050
ER  - 

@conference{
author = "Mandić, Petar and Lino, Paolo and Maione, Guido and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2020",
abstract = "Motion control of robotic manipulators is frequently realized by independent control of the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios between the actuators and robot joints are considered. This paper proposes a fractional-order lag network or a fractional-order PI controller to control the position of the actuators shafts. The introduced fractional compensators are designed by using the symmetrical optimum principle and by parameters optimization or by frequency-domain loop shaping, respectively. Simulation results and frequency response show effectiveness and robustness of the approach.",
publisher = "Elsevier, Amsterdam",
journal = "IFAC PAPERSONLINE",
title = "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator",
pages = "3674-3669",
number = "2",
volume = "53",
doi = "10.1016/j.ifacol.2020.12.2050"
}

Mandić, P., Lino, P., Maione, G., Lazarević, M.,& Sekara, T. B.. (2020). Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE
Elsevier, Amsterdam., 53(2), 3669-3674.
https://doi.org/10.1016/j.ifacol.2020.12.2050

Mandić P, Lino P, Maione G, Lazarević M, Sekara TB. Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator. in IFAC PAPERSONLINE. 2020;53(2):3669-3674.
doi:10.1016/j.ifacol.2020.12.2050 .

Mandić, Petar, Lino, Paolo, Maione, Guido, Lazarević, Mihailo, Sekara, Tomislav B., "Design of Fractional-Order Lag Network and Fractional-Order PI Controller for a Robotic Manipulator" in IFAC PAPERSONLINE, 53, no. 2 (2020):3669-3674,
https://doi.org/10.1016/j.ifacol.2020.12.2050 . .

TY  - THES
AU  - Mandić, Petar
PY  - 2019
UR  - http://eteze.bg.ac.rs/application/showtheses?thesesId=6908
UR  - https://nardus.mpn.gov.rs/handle/123456789/11514
UR  - https://fedorabg.bg.ac.rs/fedora/get/o:20244/bdef:Content/download
UR  - http://vbs.rs/scripts/cobiss?command=DISPLAY&base=70036&RID=51652623
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/69
AB  - Predmet istraživanja ove doktorske disertacije jeste modelovanje i upravljanje mehaničkih sistema, sa posebnim akcentom na robotske sisteme tipa otvorenog kinematičkog lanca. Pri formiranju matematičkog modela robota korišćen je tzv. Rodrigov pristup, koji je posebno pogodan za primenu na računaru i automatsko formiranje diferencijalnih jednačina kretanja sistema. Za opisivanje disipativnih sila koje se javljaju u zglobovima robotskih segmenata pri kretanju sistema, uvodi se model trenja frakcionog tipa koji predstavlja generalizaciju standardnog modela...
AB  - The main research topics of this doctoral dissertation are modeling and control of mechanical systems, with special emphasis on robotic systems with open-chain structure. The so-called Rodriquez’s approach, which is well suited for usage on a computer and for automatic derivation of differential equations of motion, has been used for obtaining mathematical model of robot. In order to define more accurately dissipative forces occurring in robot joints when the system is in motion, a fractional order friction model, which represents a generalization of the standard model, has been introduced...
PB  - Univerzitet u Beogradu, Mašinski fakultet
T1  - Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja
T1  - Advanced modeling of complex robotic systems and mechanisms and applications of modern control theory
UR  - https://hdl.handle.net/21.15107/rcub_nardus_11514
ER  - 

@phdthesis{
author = "Mandić, Petar",
year = "2019",
abstract = "Predmet istraživanja ove doktorske disertacije jeste modelovanje i upravljanje mehaničkih sistema, sa posebnim akcentom na robotske sisteme tipa otvorenog kinematičkog lanca. Pri formiranju matematičkog modela robota korišćen je tzv. Rodrigov pristup, koji je posebno pogodan za primenu na računaru i automatsko formiranje diferencijalnih jednačina kretanja sistema. Za opisivanje disipativnih sila koje se javljaju u zglobovima robotskih segmenata pri kretanju sistema, uvodi se model trenja frakcionog tipa koji predstavlja generalizaciju standardnog modela..., The main research topics of this doctoral dissertation are modeling and control of mechanical systems, with special emphasis on robotic systems with open-chain structure. The so-called Rodriquez’s approach, which is well suited for usage on a computer and for automatic derivation of differential equations of motion, has been used for obtaining mathematical model of robot. In order to define more accurately dissipative forces occurring in robot joints when the system is in motion, a fractional order friction model, which represents a generalization of the standard model, has been introduced...",
publisher = "Univerzitet u Beogradu, Mašinski fakultet",
title = "Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja, Advanced modeling of complex robotic systems and mechanisms and applications of modern control theory",
url = "https://hdl.handle.net/21.15107/rcub_nardus_11514"
}

Mandić, P.. (2019). Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja. 
Univerzitet u Beogradu, Mašinski fakultet..
https://hdl.handle.net/21.15107/rcub_nardus_11514

Mandić P. Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja. 2019;.
https://hdl.handle.net/21.15107/rcub_nardus_11514 .

Mandić, Petar, "Napredno modelovanje složenih robotskih sistema i mehanizama i primena modernih zakona upravljanja" (2019),
https://hdl.handle.net/21.15107/rcub_nardus_11514 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6506
AB  - The investigation into the dynamics and control of robotic and complex (bio)mechanical
systems has been an active topic of research for many years. The science of
robotics/adaptronics has grown tremendously over the past twenty years, fueled by rapid
advances in computer and sensor technology, as well as theoretical advances in control
theory. Recently, calculus of general order R has attracted an increased attention of
scientific society where fractional operators are often used for control issues and for
modelling dynamic of complex systems,[1].The modelling complex rigid multibody systems
using symbolic equations can provide many advantages over the more widely-used numerical
methods of modelling these systems.
In this presentation, we propose using procedure for symbolic form computation of the
complete dynamics of (exoskeleton) robotic systems with kinematic chain structures using the
Rodriquez approach, [2]. Dynamic equations are given as Lagrange equations of the second
kind in the covariant form with external generalized forces of the gravity, motor-torque,
viscous and spring. Mathematical model of the proposed NeuroArm robotic system due to a
high gear ratio between the actuators and robot joints, can be reduced to a linear model.
Robust control of general order with no overshoot can be obtained using fractional order
compensator which is designed according to the symmetrical optimum principle, [3].The
effectiveness of the proposed method will be illustrated through the control simulation of
three degrees of freedom robot manipulator. Also, some attention will be devoted to problem
the viscous friction in robotic joints. The calculus of general order and the calculus of
variations are utilized to modelling the viscous friction which is extended to the fractional
derivative of the angular displacement. This model is introduced into dynamic equations via
generalized forces which are derived by using the principle of virtual work.
Also, it is presented the tracking problem of exoskeleton robotic system for rehabilitation
with three DOFs with revolute joints via intelligent control which includes advanced iterative
learning control (ILC), [4]. First, a feedback linearization control technique based on
computed torque method is applied on a given robotic system. Then, the proposed intelligent
ILC algorithm takes the advantages offered by closed-loop control PD type and open-loop
control sgnPDD2 type of ILC. Suggested robust ILC algorithm is applied to the linearized
system to further enhance tracking performance for repetitive tasks and deal with the model
uncertainties. Finally, a simulation example is presented to illustrate the effectiveness of the
proposed robust ILC scheme for a proposed exoskeleton robot arm.
PB  - Beograd: Matematički institut Srpske akademije nauka i umetnosti
C3  - Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019
T1  - Further results on advanced modeling and control of complex mechanical systems
EP  - 48
SP  - 47
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6506
ER  - 

@conference{
author = "Lazarević, Mihailo and Mandić, Petar",
year = "2019",
abstract = "The investigation into the dynamics and control of robotic and complex (bio)mechanical
systems has been an active topic of research for many years. The science of
robotics/adaptronics has grown tremendously over the past twenty years, fueled by rapid
advances in computer and sensor technology, as well as theoretical advances in control
theory. Recently, calculus of general order R has attracted an increased attention of
scientific society where fractional operators are often used for control issues and for
modelling dynamic of complex systems,[1].The modelling complex rigid multibody systems
using symbolic equations can provide many advantages over the more widely-used numerical
methods of modelling these systems.
In this presentation, we propose using procedure for symbolic form computation of the
complete dynamics of (exoskeleton) robotic systems with kinematic chain structures using the
Rodriquez approach, [2]. Dynamic equations are given as Lagrange equations of the second
kind in the covariant form with external generalized forces of the gravity, motor-torque,
viscous and spring. Mathematical model of the proposed NeuroArm robotic system due to a
high gear ratio between the actuators and robot joints, can be reduced to a linear model.
Robust control of general order with no overshoot can be obtained using fractional order
compensator which is designed according to the symmetrical optimum principle, [3].The
effectiveness of the proposed method will be illustrated through the control simulation of
three degrees of freedom robot manipulator. Also, some attention will be devoted to problem
the viscous friction in robotic joints. The calculus of general order and the calculus of
variations are utilized to modelling the viscous friction which is extended to the fractional
derivative of the angular displacement. This model is introduced into dynamic equations via
generalized forces which are derived by using the principle of virtual work.
Also, it is presented the tracking problem of exoskeleton robotic system for rehabilitation
with three DOFs with revolute joints via intelligent control which includes advanced iterative
learning control (ILC), [4]. First, a feedback linearization control technique based on
computed torque method is applied on a given robotic system. Then, the proposed intelligent
ILC algorithm takes the advantages offered by closed-loop control PD type and open-loop
control sgnPDD2 type of ILC. Suggested robust ILC algorithm is applied to the linearized
system to further enhance tracking performance for repetitive tasks and deal with the model
uncertainties. Finally, a simulation example is presented to illustrate the effectiveness of the
proposed robust ILC scheme for a proposed exoskeleton robot arm.",
publisher = "Beograd: Matematički institut Srpske akademije nauka i umetnosti",
journal = "Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019",
title = "Further results on advanced modeling and control of complex mechanical systems",
pages = "48-47",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6506"
}

Lazarević, M.,& Mandić, P.. (2019). Further results on advanced modeling and control of complex mechanical systems. in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019
Beograd: Matematički institut Srpske akademije nauka i umetnosti., 47-48.
https://hdl.handle.net/21.15107/rcub_machinery_6506

Lazarević M, Mandić P. Further results on advanced modeling and control of complex mechanical systems. in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019. 2019;:47-48.
https://hdl.handle.net/21.15107/rcub_machinery_6506 .

Lazarević, Mihailo, Mandić, Petar, "Further results on advanced modeling and control of complex mechanical systems" in Booklet of abstracts Symposium “Nonlinear dynamics –scientific work of Prof. Dr Katica (Stevanović) Hedrih”, Belgrade, 04.-06. September 2019 (2019):47-48,
https://hdl.handle.net/21.15107/rcub_machinery_6506 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Bošković, Marko
AU  - Maione, Guido
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4103
AB  - In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator.
PB  - Beograd : Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c
T1  - Robust control of a robot manipulators using fractional order lag compensator
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4103
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Bošković, Marko and Maione, Guido",
year = "2019",
abstract = "In this paper a fractional order lag compensator is introduced for the control of robot
manipulators. Mathematical model of the robotic system is derived using the Rodriquez approach
which, due to a high gear ratio between the actuators and robot joints, reduces to a linear model.
Then, fractional order compensator is designed according to the symmetrical optimum principle.
Optimal values of controller parameters give good performance characteristics and high
robustness of the system, together with an iso-damping property of the closed loop reference
response. The effectiveness of the proposed method is illustrated through the control simulation
of three degrees of freedom robot manipulator.",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c",
title = "Robust control of a robot manipulators using fractional order lag compensator",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4103"
}

Mandić, P., Lazarević, M., Šekara, T., Bošković, M.,& Maione, G.. (2019). Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c
Beograd : Srpsko društvo za mehaniku..
https://hdl.handle.net/21.15107/rcub_machinery_4103

Mandić P, Lazarević M, Šekara T, Bošković M, Maione G. Robust control of a robot manipulators using fractional order lag compensator. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c. 2019;.
https://hdl.handle.net/21.15107/rcub_machinery_4103 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Bošković, Marko, Maione, Guido, "Robust control of a robot manipulators using fractional order lag compensator" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1c (2019),
https://hdl.handle.net/21.15107/rcub_machinery_4103 .

TY  - CONF
AU  - Bošković, Marko
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4100
AB  - U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.
PB  - BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
T1  - Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja
EP  - 387
SP  - 382
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4100
ER  - 

@conference{
author = "Bošković, Marko and Rapaić, Milan and Šekara, Tomislav and Mandić, Petar and Lazarević, Mihailo",
year = "2019",
abstract = "U ovom radu je data jedna efikasna metoda projektovanja složenih kompenzatora bez integralnog dejstva. Kompenzatori sa ovakvom strukturom imaju primjenu u robotici i mehatroničkim sistemima. Željeni indeksi performanse i robusnosti ostvaruju se pogodnim izborom jednog podesivog parametra lamda što čini predloženu metodu fleksibilnom i jednostavnom za primjenu. Kompenzator je prvenstveno projektovan da se dobiju odzivi bez preskoka sa adekvatnom
brzinom reagovanja na step referentni signal, dok su maksimum funkcije osjetljivosti Ms i maksimum komplementarne funkcije osjetljivosti Mp korišćeni kao indeksi robusnosti. Dobijeni
kompenzatori su predstavljeni racionalnom funkcijom prenosa relativno niskog reda (manjeg od četiri) primjenom Padé aproksimacije eksponencijalnog člana. Efikasnost predložene
metode ilustrovana je numeričkim simulacijama na dvanaest tipičnih predstavnika industrijskih procesa: stabilnih, integralnih i nestabilnih, uključujući i transportno kašnjenje.",
publisher = "BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.",
title = "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja",
pages = "387-382",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4100"
}

Bošković, M., Rapaić, M., Šekara, T., Mandić, P.,& Lazarević, M.. (2019). Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.
BiH: Istočno Sarajevo: Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100

Bošković M, Rapaić M, Šekara T, Mandić P, Lazarević M. Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja. in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019.. 2019;:382-387.
https://hdl.handle.net/21.15107/rcub_machinery_4100 .

Bošković, Marko, Rapaić, Milan, Šekara, Tomislav, Mandić, Petar, Lazarević, Mihailo, "Jedna nova metoda projektovanja složenih kompenzatora u sistemima upravljanja" in Zbornik  radova  18th International Symposium INFOTEH-JAHORINA, 20-22 March 2019. (2019):382-387,
https://hdl.handle.net/21.15107/rcub_machinery_4100 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4104
AB  - The fractional calculus and the calculus of variations are utilized to model and control
complex dynamical systems. Those systems are presented more accurately by means of fractional
models. In this paper, dynamic model of robot manipulator is introduced using the Rodriquez
approach. Then, a viscous friction term is extended to be proportional to the fractional derivative
of the angular displacement. This model is introduced into dynamic equations via generalized
forces which are derived by using the principle of virtual work. Numerical example for the
robotic system with three degrees of freedom is presented. The results obtained for generalized
forces are compared for different values of parameters in the fractional order derivative model
PB  - Beograd : Srpsko društvo za mehaniku
C3  - Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d
T1  - A fractional order viscous friction model in robotic joints
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4104
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo",
year = "2019",
abstract = "The fractional calculus and the calculus of variations are utilized to model and control
complex dynamical systems. Those systems are presented more accurately by means of fractional
models. In this paper, dynamic model of robot manipulator is introduced using the Rodriquez
approach. Then, a viscous friction term is extended to be proportional to the fractional derivative
of the angular displacement. This model is introduced into dynamic equations via generalized
forces which are derived by using the principle of virtual work. Numerical example for the
robotic system with three degrees of freedom is presented. The results obtained for generalized
forces are compared for different values of parameters in the fractional order derivative model",
publisher = "Beograd : Srpsko društvo za mehaniku",
journal = "Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d",
title = "A fractional order viscous friction model in robotic joints",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4104"
}

Mandić, P.,& Lazarević, M.. (2019). A fractional order viscous friction model in robotic joints. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d
Beograd : Srpsko društvo za mehaniku..
https://hdl.handle.net/21.15107/rcub_machinery_4104

Mandić P, Lazarević M. A fractional order viscous friction model in robotic joints. in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d. 2019;.
https://hdl.handle.net/21.15107/rcub_machinery_4104 .

Mandić, Petar, Lazarević, Mihailo, "A fractional order viscous friction model in robotic joints" in Proceeding of 7th International Congress of Serbian Society of Mechanics Sremski Karlovci, Serbia, June 24-26, 2019, C1d (2019),
https://hdl.handle.net/21.15107/rcub_machinery_4104 .

TY  - JOUR
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Mandić, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2746
AB  - U ovom radu razmatrano je iterativno upravljanje učenjem u zatvorenoj petlji (ILC) - PDα tip linearnim singularnim sistemom sa kašnjenjem necelog reda. Dati su dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PD-alfa tipa ILC za datu klasu linearnog singularnog sistema sa kašnjenjem necelog reda zajedno sa odgovarajućom teoremom i dokazom. Takođe, po prvi put je u ovom radu predloženi tip PDα ILC primenjen za datu klasu linearnih singularnih sistema sa kašnjenjem necelog reda sa neizvesnošću. Konačno, valjanost predloženog ILC algoritma upravljanja za razmatranu klasu singularnih sistema je potvrđena sa adekvatnom numeričkom simulacijom.
AB  - In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order linear singular time-delay system is considered. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Also, for the first time, we proposed a proposed ILC PDα type for a given class of uncertain, fractional order, singular systems. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.
PB  - Vojnotehnički institut, Beograd
T2  - Scientific Technical Review
T1  - Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip
T1  - Closed-loop iterative learning control for fractional-order linear singular time-delay system: PDα-type
EP  - 25
IS  - 2
SP  - 17
VL  - 68
DO  - 10.5937/str1802017L
ER  - 

@article{
author = "Lazarević, Mihailo and Cvetković, Boško and Mandić, Petar",
year = "2018",
abstract = "U ovom radu razmatrano je iterativno upravljanje učenjem u zatvorenoj petlji (ILC) - PDα tip linearnim singularnim sistemom sa kašnjenjem necelog reda. Dati su dovoljni uslovi za konvergenciju u vremenskom domenu predloženog PD-alfa tipa ILC za datu klasu linearnog singularnog sistema sa kašnjenjem necelog reda zajedno sa odgovarajućom teoremom i dokazom. Takođe, po prvi put je u ovom radu predloženi tip PDα ILC primenjen za datu klasu linearnih singularnih sistema sa kašnjenjem necelog reda sa neizvesnošću. Konačno, valjanost predloženog ILC algoritma upravljanja za razmatranu klasu singularnih sistema je potvrđena sa adekvatnom numeričkom simulacijom., In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order linear singular time-delay system is considered. The sufficient conditions for the convergence in time domain of the proposed PD-alpha type ILC for a class of fractional order singular system are given by the corresponding theorem together with its proof. Also, for the first time, we proposed a proposed ILC PDα type for a given class of uncertain, fractional order, singular systems. Finally, the validity of the proposed PDα ILC scheme for a class of fractional order singular time-delay system is verified by a numerical example.",
publisher = "Vojnotehnički institut, Beograd",
journal = "Scientific Technical Review",
title = "Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip, Closed-loop iterative learning control for fractional-order linear singular time-delay system: PDα-type",
pages = "25-17",
number = "2",
volume = "68",
doi = "10.5937/str1802017L"
}

Lazarević, M., Cvetković, B.,& Mandić, P.. (2018). Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip. in Scientific Technical Review
Vojnotehnički institut, Beograd., 68(2), 17-25.
https://doi.org/10.5937/str1802017L

Lazarević M, Cvetković B, Mandić P. Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip. in Scientific Technical Review. 2018;68(2):17-25.
doi:10.5937/str1802017L .

Lazarević, Mihailo, Cvetković, Boško, Mandić, Petar, "Iterativno upravljanje učenjem u zatvorenoj petlji necelog reda za singularni sistem sa kašnjenjem necelog reda - PDα tip" in Scientific Technical Review, 68, no. 2 (2018):17-25,
https://doi.org/10.5937/str1802017L . .

TY  - BOOK
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6766
AB  - Овај приручник за лабораторијске вежбе је настао у оквиру иновирања предмета
Мехатронска роботика на Мастер студијама уз подршку Министарства за просвету,
науку и технолошки развој Републике Србије,бр. пројекта 401-00-00703/2017-06 са
превасходним циљем примене савремене ИТ технологије са циљем да студент стекне
практична знања и вештине на један методолошки континуалан начин у домену
аквизиције сензорских информација, основе програмирања применом одговарајућих
софтверских језика и синтези управљања одговарајућим роботским/мехатроничким
системима. Посебна пажња је овде посвећена и моделирању савремених роботских
система, креирању и управљању истим. Исто тако у овом приручнику значајна пажња
је посвећена раду и примени Ардуино и Расбери ПИ развојних платформи са пратећом
сензорском опремом.
PB  - Машински факултет Универзитет у Београду
T2  - Mашински факултет Универзитет у Београду, 2018
T1  - Мехатронска роботика- Приручник за лабораторијске вежбе
EP  - 100
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6766
ER  - 

@book{
author = "Lazarević, Mihailo and Mandić, Petar",
year = "2018",
abstract = "Овај приручник за лабораторијске вежбе је настао у оквиру иновирања предмета
Мехатронска роботика на Мастер студијама уз подршку Министарства за просвету,
науку и технолошки развој Републике Србије,бр. пројекта 401-00-00703/2017-06 са
превасходним циљем примене савремене ИТ технологије са циљем да студент стекне
практична знања и вештине на један методолошки континуалан начин у домену
аквизиције сензорских информација, основе програмирања применом одговарајућих
софтверских језика и синтези управљања одговарајућим роботским/мехатроничким
системима. Посебна пажња је овде посвећена и моделирању савремених роботских
система, креирању и управљању истим. Исто тако у овом приручнику значајна пажња
је посвећена раду и примени Ардуино и Расбери ПИ развојних платформи са пратећом
сензорском опремом.",
publisher = "Машински факултет Универзитет у Београду",
journal = "Mашински факултет Универзитет у Београду, 2018",
title = "Мехатронска роботика- Приручник за лабораторијске вежбе",
pages = "100-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6766"
}

Lazarević, M.,& Mandić, P.. (2018). Мехатронска роботика- Приручник за лабораторијске вежбе. in Mашински факултет Универзитет у Београду, 2018
Машински факултет Универзитет у Београду., 1-100.
https://hdl.handle.net/21.15107/rcub_machinery_6766

Lazarević M, Mandić P. Мехатронска роботика- Приручник за лабораторијске вежбе. in Mашински факултет Универзитет у Београду, 2018. 2018;:1-100.
https://hdl.handle.net/21.15107/rcub_machinery_6766 .

Lazarević, Mihailo, Mandić, Petar, "Мехатронска роботика- Приручник за лабораторијске вежбе" in Mашински факултет Универзитет у Београду, 2018 (2018):1-100,
https://hdl.handle.net/21.15107/rcub_machinery_6766 .

TY  - CONF
AU  - Bošković, Marko C.
AU  - Rapaić, Milan R.
AU  - Sekara, Tomislav B.
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Cvetković, Boško
AU  - Lutovac, Budimir
AU  - Daković, Miloš
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2921
AB  - This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.
PB  - IEEE, New York
C3  - 2018 7th Mediterranean Conference on Embedded Computing (Meco)
T1  - On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation
EP  - 475
SP  - 472
DO  - 10.1109/MECO.2018.8405969
UR  - https://hdl.handle.net/21.15107/rcub_machinery_2921
ER  - 

@conference{
author = "Bošković, Marko C. and Rapaić, Milan R. and Sekara, Tomislav B. and Mandić, Petar and Lazarević, Mihailo and Cvetković, Boško and Lutovac, Budimir and Daković, Miloš",
year = "2018",
abstract = "This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed method relies on a Pade approximation of linear fractional order transfer functions, giving rational approximations of order N accurate enough for control applications as soon as N is greater than 2 or 3. An example of feedback loop incorporating this approximation is adopted from the well-known car suspension problem, wherein an iso-damping property of the closed loop response is achieved, with regard to a variation of the vehicle mass.",
publisher = "IEEE, New York",
journal = "2018 7th Mediterranean Conference on Embedded Computing (Meco)",
title = "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation",
pages = "475-472",
doi = "10.1109/MECO.2018.8405969",
url = "https://hdl.handle.net/21.15107/rcub_machinery_2921"
}

Bošković, M. C., Rapaić, M. R., Sekara, T. B., Mandić, P., Lazarević, M., Cvetković, B., Lutovac, B.,& Daković, M.. (2018). On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco)
IEEE, New York., 472-475.
https://doi.org/10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921

Bošković MC, Rapaić MR, Sekara TB, Mandić P, Lazarević M, Cvetković B, Lutovac B, Daković M. On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation. in 2018 7th Mediterranean Conference on Embedded Computing (Meco). 2018;:472-475.
doi:10.1109/MECO.2018.8405969
https://hdl.handle.net/21.15107/rcub_machinery_2921 .

Bošković, Marko C., Rapaić, Milan R., Sekara, Tomislav B., Mandić, Petar, Lazarević, Mihailo, Cvetković, Boško, Lutovac, Budimir, Daković, Miloš, "On the Rational Representation of Fractional Order Lead Compensator using Pade Approximation" in 2018 7th Mediterranean Conference on Embedded Computing (Meco) (2018):472-475,
https://doi.org/10.1109/MECO.2018.8405969 .,
https://hdl.handle.net/21.15107/rcub_machinery_2921 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Šekara, Tomislav
AU  - Cvetković, Boško
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4137
AB  - Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.
PB  - Belgrade: ETRAN Society
PB  - Belgrade : Academic Mind
C3  - Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
T1  - Robust PID Control for Robot Manipulators with Parametric Uncertainties
EP  - 1059
SP  - 1054
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4137
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Šekara, Tomislav and Cvetković, Boško",
year = "2018",
abstract = "Most of the industrial robots use a classical PIDtype
controller for positioning tasks. A main reason for this is its
effectiveness in regulation tasks, simple linear structure, and
easy implementation. Moreover, it is well known that the
robustness properties of a PID controller make it an excellent
choice for set point control of robot manipulators. In this paper,
a robust PID controller is designed in order to cope with
modeling uncertainties and unmodelled dynamics. First,
dynamic model of robot manipulator is derived using the
Rodriquez approach. Then, a PID controller is applied to
feedback linearized robotic system in order to suppress constant
disturbance and achieve good set-point control. The proposed
controller contains one adjustable parameter lamda , which has a
direct influence on the time constant of the closed loop system.
By adjusting it, one can accomplish a compromise between the
robustness and performance indices. Using this algorithm,
simulation results of a NeuroArm robotic manipulator executing
positioning tasks are shown to demonstrate the efficiency of the
proposed controller.",
publisher = "Belgrade: ETRAN Society, Belgrade : Academic Mind",
journal = "Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.",
title = "Robust PID Control for Robot Manipulators with Parametric Uncertainties",
pages = "1059-1054",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4137"
}

Mandić, P., Lazarević, M., Šekara, T.,& Cvetković, B.. (2018). Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.
Belgrade: ETRAN Society., 1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137

Mandić P, Lazarević M, Šekara T, Cvetković B. Robust PID Control for Robot Manipulators with Parametric Uncertainties. in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018.. 2018;:1054-1059.
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

Mandić, Petar, Lazarević, Mihailo, Šekara, Tomislav, Cvetković, Boško, "Robust PID Control for Robot Manipulators with Parametric Uncertainties" in Proceedings of Papers – 5th International Conference on Electrical, Electronic and Computing Engineering, IcETRAN 2018,  Palić, Serbia, June 11 – 14, 2018. (2018):1054-1059,
https://hdl.handle.net/21.15107/rcub_machinery_4137 .

TY  - CONF
AU  - Bučanović, Ljubiša
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Šekara, Tomislav
AU  - Dragović, Mladen
AU  - Govedarica, Vidan
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4131
AB  - U ovom radu predložen je i primenjen algoritam PID upravljanja koji je analitički projektovan u odnosu na zahtevanu robusnost, tj. u kriogenom procesu separacije vazduha. Za primenu u
sintezi zakona upravljanja, u cilju regulacije ulazne temperature i protoka vazduha kroz ekspanzionu turbinu, neophodno je odrediti odgovarajuće diferencijalne jednačine kriogenog procesa mešanja dva toka gasa na različitim temperaturama pre ulaska u ekspanzionu
turbinu.Nakon linearizacije i rasprezanja dobijenog modela, projektovan je PID kontroler prema parametrima zahtevane robusnosti.Prednosti predloženog upravljanja su ilustrovane na
simulacionom primeru gde se uočava značajno potiskivanje nemerljivog i merljivog poremećaja
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018
T1  - Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost
EP  - 448
SP  - 444
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4131
ER  - 

@conference{
author = "Bučanović, Ljubiša and Lazarević, Mihailo and Mandić, Petar and Šekara, Tomislav and Dragović, Mladen and Govedarica, Vidan",
year = "2018",
abstract = "U ovom radu predložen je i primenjen algoritam PID upravljanja koji je analitički projektovan u odnosu na zahtevanu robusnost, tj. u kriogenom procesu separacije vazduha. Za primenu u
sintezi zakona upravljanja, u cilju regulacije ulazne temperature i protoka vazduha kroz ekspanzionu turbinu, neophodno je odrediti odgovarajuće diferencijalne jednačine kriogenog procesa mešanja dva toka gasa na različitim temperaturama pre ulaska u ekspanzionu
turbinu.Nakon linearizacije i rasprezanja dobijenog modela, projektovan je PID kontroler prema parametrima zahtevane robusnosti.Prednosti predloženog upravljanja su ilustrovane na
simulacionom primeru gde se uočava značajno potiskivanje nemerljivog i merljivog poremećaja",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018",
title = "Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost",
pages = "448-444",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4131"
}

Bučanović, L., Lazarević, M., Mandić, P., Šekara, T., Dragović, M.,& Govedarica, V.. (2018). Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost. in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 444-448.
https://hdl.handle.net/21.15107/rcub_machinery_4131

Bučanović L, Lazarević M, Mandić P, Šekara T, Dragović M, Govedarica V. Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost. in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018. 2018;:444-448.
https://hdl.handle.net/21.15107/rcub_machinery_4131 .

Bučanović, Ljubiša, Lazarević, Mihailo, Mandić, Petar, Šekara, Tomislav, Dragović, Mladen, Govedarica, Vidan, "Multivarijabilno upravljanje kriogenim procesom primenom PID regulatora projektovanog u odnosu na zahtevanu robusnost" in 17th International Symposium INFOTEH-JAHORINA : el. proceedings, 21-23 March 2018 (2018):444-448,
https://hdl.handle.net/21.15107/rcub_machinery_4131 .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Cvetković, Boško
AU  - Bučanović, Ljubiša
AU  - Dragović, Mladen
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2971
AB  - In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI
T1  - Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm
DO  - 10.1109/INISTA.2018.8466308
ER  - 

@conference{
author = "Lazarević, Mihailo and Mandić, Petar and Cvetković, Boško and Bučanović, Ljubiša and Dragović, Mladen",
year = "2018",
abstract = "In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking control of time-varying robotic manipulator. We propose intelligent control system which consists of a computed torque controller for linearizing robot dynamics. Then open-closed ILC is applied to the linearized system to further enhance tracking performance for repetitive tasks and deal with the model uncertainties. It is theoretically proven that the boundednesses of the tracking error are guaranteed in the presence of model uncertainty. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI",
title = "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm",
doi = "10.1109/INISTA.2018.8466308"
}

Lazarević, M., Mandić, P., Cvetković, B., Bučanović, L.,& Dragović, M.. (2018). Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI
Institute of Electrical and Electronics Engineers Inc...
https://doi.org/10.1109/INISTA.2018.8466308

Lazarević M, Mandić P, Cvetković B, Bučanović L, Dragović M. Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm. in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI. 2018;.
doi:10.1109/INISTA.2018.8466308 .

Lazarević, Mihailo, Mandić, Petar, Cvetković, Boško, Bučanović, Ljubiša, Dragović, Mladen, "Advanced open-closed-loop PIDD2/PID type ILC control of a robot arm" in 2018 IEEE (SMC) International Conference on Innovations in Intelligent Systems and Applications, INI (2018),
https://doi.org/10.1109/INISTA.2018.8466308 . .

TY  - CONF
AU  - Cvetković, Boško
AU  - Nešić, V.
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Marić, P.
AU  - Dragović, M.
PY  - 2018
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2968
AB  - In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.
PB  - Institute of Physics Publishing
C3  - IOP Conference Series: Materials Science and Engineering
T1  - Advanced hardware control for seven DOFs robotic arm-neuro arm
IS  - 1
VL  - 393
DO  - 10.1088/1757-899X/393/1/012110
ER  - 

@conference{
author = "Cvetković, Boško and Nešić, V. and Lazarević, Mihailo and Mandić, Petar and Marić, P. and Dragović, M.",
year = "2018",
abstract = "In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus.",
publisher = "Institute of Physics Publishing",
journal = "IOP Conference Series: Materials Science and Engineering",
title = "Advanced hardware control for seven DOFs robotic arm-neuro arm",
number = "1",
volume = "393",
doi = "10.1088/1757-899X/393/1/012110"
}

Cvetković, B., Nešić, V., Lazarević, M., Mandić, P., Marić, P.,& Dragović, M.. (2018). Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering
Institute of Physics Publishing., 393(1).
https://doi.org/10.1088/1757-899X/393/1/012110

Cvetković B, Nešić V, Lazarević M, Mandić P, Marić P, Dragović M. Advanced hardware control for seven DOFs robotic arm-neuro arm. in IOP Conference Series: Materials Science and Engineering. 2018;393(1).
doi:10.1088/1757-899X/393/1/012110 .

Cvetković, Boško, Nešić, V., Lazarević, Mihailo, Mandić, Petar, Marić, P., Dragović, M., "Advanced hardware control for seven DOFs robotic arm-neuro arm" in IOP Conference Series: Materials Science and Engineering, 393, no. 1 (2018),
https://doi.org/10.1088/1757-899X/393/1/012110 . .

TY  - CONF
AU  - Lazarević, Mihailo
AU  - Cajić, Milan
AU  - Mandić, Petar
AU  - Sekara, Tomislav B.
AU  - Sun, HongGuang
AU  - Karličić, Danilo
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2702
AB  - In this paper, we suggest a robust non-square MIMO (4x8) PID controller for the multi-mode active vibration damping of a nanobeam. Nanobeam is modeled by using the nonlocal continuum theory of Eringen to consider the small-scale effects and Euler-Bernoulli beam theory. The problem is analyzed for the free vibration case with Heaviside type disturbance of a nanobeam with and without the controller. The proposed system has four inputs and eight outputs, where by using the static decoupling method, decoupled system of four transfer functions is obtained. The controller parameters dependig on one tuning parmeter are designed to suppress the step disturbance on the input without overshooting. All theoretical results are verified with several numerical examples.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
T1  - Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller
EP  - 62
SP  - 57
DO  - 10.1109/CCDC.2017.7978066
ER  - 

@conference{
author = "Lazarević, Mihailo and Cajić, Milan and Mandić, Petar and Sekara, Tomislav B. and Sun, HongGuang and Karličić, Danilo",
year = "2017",
abstract = "In this paper, we suggest a robust non-square MIMO (4x8) PID controller for the multi-mode active vibration damping of a nanobeam. Nanobeam is modeled by using the nonlocal continuum theory of Eringen to consider the small-scale effects and Euler-Bernoulli beam theory. The problem is analyzed for the free vibration case with Heaviside type disturbance of a nanobeam with and without the controller. The proposed system has four inputs and eight outputs, where by using the static decoupling method, decoupled system of four transfer functions is obtained. The controller parameters dependig on one tuning parmeter are designed to suppress the step disturbance on the input without overshooting. All theoretical results are verified with several numerical examples.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
title = "Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller",
pages = "62-57",
doi = "10.1109/CCDC.2017.7978066"
}

Lazarević, M., Cajić, M., Mandić, P., Sekara, T. B., Sun, H.,& Karličić, D.. (2017). Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Institute of Electrical and Electronics Engineers Inc.., 57-62.
https://doi.org/10.1109/CCDC.2017.7978066

Lazarević M, Cajić M, Mandić P, Sekara TB, Sun H, Karličić D. Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:57-62.
doi:10.1109/CCDC.2017.7978066 .

Lazarević, Mihailo, Cajić, Milan, Mandić, Petar, Sekara, Tomislav B., Sun, HongGuang, Karličić, Danilo, "Multi-mode Active Vibration Control of a Nanobeam using a non-square MIMO PID controller" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):57-62,
https://doi.org/10.1109/CCDC.2017.7978066 . .

TY  - BOOK
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
AU  - Bučanović, Ljubiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/6690
AB  - Посебан значај теорија фракционог рачуна има у реализацији квалитетнијих  система управљања динамичким системима чији су одговарајући напредни модели  одређени такође применом фракционог рачуна, чиме је сада омогућено да се применом управљања фракционог реда побољшају перформансе управљачког система, односно датог система управљања. Овде је од интереса примена итеративног управљање путем учења (ИЛЦ) које представља моћан интелигентни концепт  управљања који на итеративни начин побољшава понашање процеса који имају особину понављања у својој природи. У том смислу разматрају се и уводе нови алгоритми ИЛЦ-а који су засновани на примени рачуна фракционог реда и то за регуларне тако и за сингуларне системе фракционог реда са и без временског кашњења.  Посебна пажња је овде посвећена на примени интелигентних система  управљања и то примени МИМО ПИД алгоритама управљања фракционог реда у задатку управљања датим МИМО системима који јесте актуелан и изазован задатак имајући у виду да је пројектовање мултиваријабилних регулатора захтеван и сложен проблем. При томе, уведен је и примењен оптимални ПИД регулатор целог и фракционог реда применом генетских алгоритама. У циљу реализације робусног ПИД управљања фракционог реда МИМО системима акценат је дат и на примени параметарске методе Д-разлагања имајући у виду особености и предности која ова метода поседује као и методе подешавања доминантниих полова.
PB  - Машински факултет Универзитет у Београду
T2  - Машински факултет  Универзитет у Београду
T1  - Напредни системи управљања динамичким системима: фракциони приступ
EP  - 310
SP  - 1
UR  - https://hdl.handle.net/21.15107/rcub_machinery_6690
ER  - 

@book{
author = "Lazarević, Mihailo and Mandić, Petar and Bučanović, Ljubiša",
year = "2017",
abstract = "Посебан значај теорија фракционог рачуна има у реализацији квалитетнијих  система управљања динамичким системима чији су одговарајући напредни модели  одређени такође применом фракционог рачуна, чиме је сада омогућено да се применом управљања фракционог реда побољшају перформансе управљачког система, односно датог система управљања. Овде је од интереса примена итеративног управљање путем учења (ИЛЦ) које представља моћан интелигентни концепт  управљања који на итеративни начин побољшава понашање процеса који имају особину понављања у својој природи. У том смислу разматрају се и уводе нови алгоритми ИЛЦ-а који су засновани на примени рачуна фракционог реда и то за регуларне тако и за сингуларне системе фракционог реда са и без временског кашњења.  Посебна пажња је овде посвећена на примени интелигентних система  управљања и то примени МИМО ПИД алгоритама управљања фракционог реда у задатку управљања датим МИМО системима који јесте актуелан и изазован задатак имајући у виду да је пројектовање мултиваријабилних регулатора захтеван и сложен проблем. При томе, уведен је и примењен оптимални ПИД регулатор целог и фракционог реда применом генетских алгоритама. У циљу реализације робусног ПИД управљања фракционог реда МИМО системима акценат је дат и на примени параметарске методе Д-разлагања имајући у виду особености и предности која ова метода поседује као и методе подешавања доминантниих полова.",
publisher = "Машински факултет Универзитет у Београду",
journal = "Машински факултет  Универзитет у Београду",
title = "Напредни системи управљања динамичким системима: фракциони приступ",
pages = "310-1",
url = "https://hdl.handle.net/21.15107/rcub_machinery_6690"
}

Lazarević, M., Mandić, P.,& Bučanović, L.. (2017). Напредни системи управљања динамичким системима: фракциони приступ. in Машински факултет  Универзитет у Београду
Машински факултет Универзитет у Београду., 1-310.
https://hdl.handle.net/21.15107/rcub_machinery_6690

Lazarević M, Mandić P, Bučanović L. Напредни системи управљања динамичким системима: фракциони приступ. in Машински факултет  Универзитет у Београду. 2017;:1-310.
https://hdl.handle.net/21.15107/rcub_machinery_6690 .

Lazarević, Mihailo, Mandić, Petar, Bučanović, Ljubiša, "Напредни системи управљања динамичким системима: фракциони приступ" in Машински факултет  Универзитет у Београду (2017):1-310,
https://hdl.handle.net/21.15107/rcub_machinery_6690 .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2649
AB  - This paper deals with the stability problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational inverted pendulum and cart inverted pendulum are under-actuated mechanical systems with two degrees of freedom and one control input. Detailed mathematical models of both pendulums are derived using the Rodriguez method. Fractional order PD controller is introduced for inverted pendulum stabilization. Stability regions in control parameters space are calculated using the D-decomposition approach, based on which tuning of the fractional order controller can be carried out. Numerical simulations and experimental realization are given to demonstrate the effectiveness of the proposed method.
PB  - Springer International Publishing Ag, Cham
C3  - Advances in Robot Design and Intelligent Control
T1  - Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach
EP  - 37
SP  - 29
VL  - 540
DO  - 10.1007/978-3-319-49058-8_4
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B.",
year = "2017",
abstract = "This paper deals with the stability problem of two types of inverted pendulum controlled by a fractional order PD controller. Rotational inverted pendulum and cart inverted pendulum are under-actuated mechanical systems with two degrees of freedom and one control input. Detailed mathematical models of both pendulums are derived using the Rodriguez method. Fractional order PD controller is introduced for inverted pendulum stabilization. Stability regions in control parameters space are calculated using the D-decomposition approach, based on which tuning of the fractional order controller can be carried out. Numerical simulations and experimental realization are given to demonstrate the effectiveness of the proposed method.",
publisher = "Springer International Publishing Ag, Cham",
journal = "Advances in Robot Design and Intelligent Control",
title = "Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach",
pages = "37-29",
volume = "540",
doi = "10.1007/978-3-319-49058-8_4"
}

Mandić, P., Lazarević, M.,& Sekara, T. B.. (2017). Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach. in Advances in Robot Design and Intelligent Control
Springer International Publishing Ag, Cham., 540, 29-37.
https://doi.org/10.1007/978-3-319-49058-8_4

Mandić P, Lazarević M, Sekara TB. Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach. in Advances in Robot Design and Intelligent Control. 2017;540:29-37.
doi:10.1007/978-3-319-49058-8_4 .

Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., "Stabilization of Inverted Pendulum by Fractional Order PD Controller with Experimental Validation: D-decomposition Approach" in Advances in Robot Design and Intelligent Control, 540 (2017):29-37,
https://doi.org/10.1007/978-3-319-49058-8_4 . .

TY  - CONF
AU  - Mandić, Petar
AU  - Lazarević, Mihailo
AU  - Sekara, Tomislav B.
AU  - Cajić, Milan
AU  - Bučanović, Ljubiša
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2693
AB  - In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
T1  - Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator
EP  - 1916
SP  - 1911
DO  - 10.1109/CCDC.2017.7978829
ER  - 

@conference{
author = "Mandić, Petar and Lazarević, Mihailo and Sekara, Tomislav B. and Cajić, Milan and Bučanović, Ljubiša",
year = "2017",
abstract = "In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017",
title = "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator",
pages = "1916-1911",
doi = "10.1109/CCDC.2017.7978829"
}

Mandić, P., Lazarević, M., Sekara, T. B., Cajić, M.,& Bučanović, L.. (2017). Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
Institute of Electrical and Electronics Engineers Inc.., 1911-1916.
https://doi.org/10.1109/CCDC.2017.7978829

Mandić P, Lazarević M, Sekara TB, Cajić M, Bučanović L. Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator. in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017. 2017;:1911-1916.
doi:10.1109/CCDC.2017.7978829 .

Mandić, Petar, Lazarević, Mihailo, Sekara, Tomislav B., Cajić, Milan, Bučanović, Ljubiša, "Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator" in Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017 (2017):1911-1916,
https://doi.org/10.1109/CCDC.2017.7978829 . .

TY  - CONF
AU  - Bošković, Marko
AU  - Rapaić, Milan
AU  - Šekara, Tomislav
AU  - Lazarević, Mihailo
AU  - Mandić, Petar
PY  - 2017
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/4164
AB  - This paper presents an effective design method of PID controller with series differential compensator ie. PIDC controller. The adjustable parameters of a PIDC controller are:
proportional gain kp, integral gain ki, derivative gain kd, the second order derivative gain kh and filter time constant Tf. The proposed design procedure is based on pole placement to
approximately obtain dynamics of the closed loop system defined with the poles of the criterion test function which has optimal performance in sense of minimal settling time without overshoot.
The design goal is to obtain good load disturbance response with constraint on robustness, so parameter kp is selected to guarantee desired robustness given in the form of closed loop maximum sensitivity Ms and considering sensitivity to the measurement noise Mn. This technique is applicable to a wide range of transfer functions: stable and unstable, with and without time-delay,
rational and non-rational and those describing distributed parameters. Validity of a proposed method is verified through a series of numerical simulations of processes typically encountered
in industry.
PB  - Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet
C3  - Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.
T1  - Pole placement based design of PIDC controller under constraint on robustness
EP  - 668
SP  - 664
UR  - https://hdl.handle.net/21.15107/rcub_machinery_4164
ER  - 

@conference{
author = "Bošković, Marko and Rapaić, Milan and Šekara, Tomislav and Lazarević, Mihailo and Mandić, Petar",
year = "2017",
abstract = "This paper presents an effective design method of PID controller with series differential compensator ie. PIDC controller. The adjustable parameters of a PIDC controller are:
proportional gain kp, integral gain ki, derivative gain kd, the second order derivative gain kh and filter time constant Tf. The proposed design procedure is based on pole placement to
approximately obtain dynamics of the closed loop system defined with the poles of the criterion test function which has optimal performance in sense of minimal settling time without overshoot.
The design goal is to obtain good load disturbance response with constraint on robustness, so parameter kp is selected to guarantee desired robustness given in the form of closed loop maximum sensitivity Ms and considering sensitivity to the measurement noise Mn. This technique is applicable to a wide range of transfer functions: stable and unstable, with and without time-delay,
rational and non-rational and those describing distributed parameters. Validity of a proposed method is verified through a series of numerical simulations of processes typically encountered
in industry.",
publisher = "Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet",
journal = "Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.",
title = "Pole placement based design of PIDC controller under constraint on robustness",
pages = "668-664",
url = "https://hdl.handle.net/21.15107/rcub_machinery_4164"
}

Bošković, M., Rapaić, M., Šekara, T., Lazarević, M.,& Mandić, P.. (2017). Pole placement based design of PIDC controller under constraint on robustness. in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.
Univerzitet u Istočnom Sarajevu, Elektrotehnički fakultet., 664-668.
https://hdl.handle.net/21.15107/rcub_machinery_4164

Bošković M, Rapaić M, Šekara T, Lazarević M, Mandić P. Pole placement based design of PIDC controller under constraint on robustness. in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017.. 2017;:664-668.
https://hdl.handle.net/21.15107/rcub_machinery_4164 .

Bošković, Marko, Rapaić, Milan, Šekara, Tomislav, Lazarević, Mihailo, Mandić, Petar, "Pole placement based design of PIDC controller under constraint on robustness" in Zbornik radova 16th International Symposium INFOTEH-JAHORINA, 22-24 March 2017. (2017):664-668,
https://hdl.handle.net/21.15107/rcub_machinery_4164 .