A Custom Robotic Vehicle Prototype for Disinfecting Workplaces

A single-input single-output linear system can model various physical systems. One of the challenges in controlling practical systems is that the settling point and settling time cannot be prescribed simultaneously. This paper presents a novel self-tuning control (STC) algorithm for scalar systems that ensures system stability while allowing both the settling time and settling point to be predetermined. To evaluate the effectiveness of the proposed control method, four possible scenarios will be defined. For each scenario, three different cases will be examined in the simulation section. Linear quadratic regulation (LQR) will be used for comparison. MATLAB software will be employed to test and simulate these cases. The simulation results will demonstrate that STC is an optimal solution for scalar linear systems, comparable to LQR, with the significant advantage of guaranteeing the achievement of the desired settling point within the predefined settling time.