Controlling mechanical systems with position and velocity cascade loops is one of the most effective methods to operate this type of systems. However, when using low-rate sampling electronics, the implementation is not trivial and the resulting performance can be poor. This paper proposes effective tuning rules that only require establishing the bandwidth of the inner velocity loop and an estimation of the inertia of the mechanism. Since discrete-time mechatronic systems can also exhibit unstable behavior, several stability conditions are also derived. By using the proposed methodology, a P-PI control algorithm is developed for a desktop haptic device, obtaining good experimental performance with low sampling-rate electronics.

The publication addresses the dynamic state challenges encountered during development of a Dual Active Bridge (DAB) converter within DC microgrid systems. The conventional startup method is identified as instigating a cascade of unfavorable outcomes, encompassing elevated starting current, transformer current asymmetry, DC voltage distortions, EMI and heightened thermal stress on semiconductor components. Additionally, it necessitates precise calibration of magnetic components and diodes. A proposed remedy to these issues is introduced, involving a control method based on an additional phase shift to modulate the current of the primary H bridge. This novel control methodology is posited as a means to mitigate the aforementioned undesirable effects associated with traditional converter initiation techniques. The research also delves into considerations of proper design procedure for the converter. Emphasis is placed on integrating the novel control methodology into the design framework to effectively address challenges arising during transient states. Validation of the proposed solution is substantiated through a series of laboratory tests, the results of which are comprehensively presented in the article. These tests affirm the efficiency of the system when incorporating the novel control methodology, thereby substantiating its practical utility in mitigating the identified issues during the initiation phase of the DAB converter in DC microgrid systems.