<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1405-7743</journal-id>
<journal-title><![CDATA[Ingeniería, investigación y tecnología]]></journal-title>
<abbrev-journal-title><![CDATA[Ing. invest. y tecnol.]]></abbrev-journal-title>
<issn>1405-7743</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Facultad de Ingeniería]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1405-77432024000400107</article-id>
<article-id pub-id-type="doi">10.22201/fi.25940732e.2024.25.4.031</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Intelligent iPD control estimation of Hardware-in-the-Loop generated dynamics]]></article-title>
<article-title xml:lang="es"><![CDATA[Control inteligente PD de dinámicas generadas con Hardware-in-the-Loop]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Martínez-García]]></surname>
<given-names><![CDATA[Juan Carlos]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Soria-López]]></surname>
<given-names><![CDATA[Alberto]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Instituto Politécnico Nacional Centro de Investigaciones y Estudios Avanzados Departamento de Control Automático]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Politécnico Nacional Centro de Investigaciones y Estudios Avanzados Departamento de Control Automático]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2024</year>
</pub-date>
<volume>25</volume>
<numero>4</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1405-77432024000400107&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1405-77432024000400107&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1405-77432024000400107&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract Hardware-in-the-Loop (HIL) perturbation load generated dynamics are estimated using an intelligent Proportional Derivative (iPD) control. Our contribution is show real-time results on how the iPD estimates explicitly the unknown dynamics term, allowing a better knowledge the way in which iPD works, whereas in the related literature, only simulation results have been presented without clearly showing the estimated term that is at the core of the iPD control. The intelligent iPD is a particular intelligent control scheme, unlike intelligent control that uses fuzzy logic, neural networks or genetic algorithms, the unmodeled dynamics are approximated by integrals reducing real-time system measurements noise in the control loop and implemented using a Finite Impulse Response (FIR) digital filter. We use two DC servo motors interconnected by their shafts. The first DC servo motor is controlled by the proposed feedback-based iPD controller whereas the second DC servomotor is used as a programmable torque load to the controlled DC servo motor. Using HIL testing we can generate desired unknown load torques for the controlled servomotor directly showing how the iPD controller approximates HIL generated perturbations. For the proposed control iPD scheme, we present both computer-based simulation and experimental real-time control results.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Las dinámicas de perturbación de carga se generan usando Hardware-in-the-Loop (HIL) y se estiman empleando un esquema de control Inteligente Proporcional Derivativo (iPD). Nuestra contribución es la presentación de resultados experimentales en tiempo real para mostrar cómo el iPD estima el término de la dinámica desconocida para el servomotor controlado, permitiendo un mejor conocimiento del funcionamiento del iPD mientras que en la literatura asociada, y solamente en simulaciones, no se ha presentado claramente el término estimado que es esencial en el control iPD. El iPD es un esquema de control inteligente particular, a diferencia del control inteligente que utiliza lógica difusa, redes neuronales o algoritmos genéticos, la dinámica no modelada se aproxima mediante integrales que reducen el ruido de las mediciones del sistema en el lazo cerrado y se implementa mediante Filtros de Respuesta Finita al Impulso (FIR). Se propone el uso de dos servomotores de corriente directa (CD) interconectados por sus ejes. El primer servomotor utiliza el controlador iPD, mientras que el segundo servomotor se utiliza como una carga programable de la dinámica no conocida para el servomotor controlado.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Intelligent iPD control]]></kwd>
<kwd lng="en"><![CDATA[modeling and control]]></kwd>
<kwd lng="en"><![CDATA[dc servomechanisms]]></kwd>
<kwd lng="en"><![CDATA[real-time control]]></kwd>
<kwd lng="es"><![CDATA[Control inteligente iPD]]></kwd>
<kwd lng="es"><![CDATA[modelado y control]]></kwd>
<kwd lng="es"><![CDATA[servomecanismos de CD]]></kwd>
<kwd lng="es"><![CDATA[control en tiempo real]]></kwd>
</kwd-group>
</article-meta>
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