Model predictive controlModel predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s. In recent years it has also been used in power system balancing models and in power electronics. Model predictive controllers rely on dynamic models of the process, most often linear empirical models obtained by system identification.
Motor learningMotor learning refers broadly to changes in an organism's movements that reflect changes in the structure and function of the nervous system. Motor learning occurs over varying timescales and degrees of complexity: humans learn to walk or talk over the course of years, but continue to adjust to changes in height, weight, strength etc. over their lifetimes. Motor learning enables animals to gain new skills, and improves the smoothness and accuracy of movements, in some cases by calibrating simple movements like reflexes.
Proportional–integral–derivative controllerA proportional–integral–derivative controller (PID controller or three-term controller) is a control loop mechanism employing feedback that is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. A PID controller continuously calculates an error value as the difference between a desired setpoint (SP) and a measured process variable (PV) and applies a correction based on proportional, integral, and derivative terms (denoted P, I, and D respectively), hence the name.
Control theoryControl theory is a field of control engineering and applied mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any delay, overshoot, or steady-state error and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required.
Motor skillA motor skill is a function that involves specific movements of the body's muscles to perform a certain task. These tasks could include walking, running, or riding a bike. In order to perform this skill, the body's nervous system, muscles, and brain have to all work together. The goal of motor skill is to optimize the ability to perform the skill at the rate of success, precision, and to reduce the energy consumption required for performance. Performance is an act of executing a motor skill or task.
Linear–quadratic regulatorThe theory of optimal control is concerned with operating a dynamic system at minimum cost. The case where the system dynamics are described by a set of linear differential equations and the cost is described by a quadratic function is called the LQ problem. One of the main results in the theory is that the solution is provided by the linear–quadratic regulator (LQR), a feedback controller whose equations are given below. LQR controllers possess inherent robustness with guaranteed gain and phase margin, and they also are part of the solution to the LQG (linear–quadratic–Gaussian) problem.
Fine motor skillFine motor skill (or dexterity) is the coordination of small muscles in movement with the eyes, hands and fingers. The complex levels of manual dexterity that humans exhibit can be related to the nervous system. Fine motor skills aid in the growth of intelligence and develop continuously throughout the stages of human development. Motor skills are movements and actions of the bone structures. Typically, they are categorised into two groups: gross motor skills and fine motor skills.
BernBern (bɛrn) or Berne (bɛʁn) is the de facto capital of Switzerland, referred to as the "federal city". With a population of about 133,000 (), Bern is the fifth-most populous city in Switzerland, behind Zürich, Geneva, Basel and Lausanne. The Bern agglomeration, which includes 36 municipalities, had a population of 406,900 in 2014. The metropolitan area had a population of 660,000 in 2000. Bern is also the capital of the canton of Bern, the second-most populous of Switzerland's cantons.
Canton of BernThe canton of Bern or Berne (Kanton Bern; Chantun Berna; canton de Berne; Canton Berna) is one of the 26 cantons forming the Swiss Confederation. Its capital city, Bern, is also the de facto capital of Switzerland. The bear is the heraldic symbol of the canton, displayed on a red-yellow background. Comprising ten districts, Bern is the second-largest canton by both surface area and population. Located in west-central Switzerland, it is surrounded by eleven cantons. It borders the canton of Jura and the canton of Solothurn to the north.
Muri bei BernMuri bei Bern is a municipality in the Bern-Mittelland administrative district in the canton of Bern in Switzerland. Muri is first mentioned in 1180 as Mure while Gümligen appears in 1239 as Gumelingen or Gumlingin Archaeological finds at Schlosshügel, unearthed in 1832, show that Muri was already settled in the era of the Roman Empire. The earliest documentary evidence for the name was in 1180 when a clergyman named Burkhard made transactions with wealthy residents.
