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The application of the model mismatch strategy to improve the control performance on the example of the rotarod apparatus

Awtoniuk Michał, Worwa Miłosz, Sałat Robert, Makowski Tomasz, Trajer Jędrzej, Sałat Kinga

Advances in Science and Technology. Research Journal

2025

Vol. 19, no. 4

10--19

The study aims to explore the application of the Model Mismatch Strategy (MMS) to improve the speed control accuracy of a prototype rotarod apparatus (RRA), a device used to assess motor coordination in laboratory rodents. Two test scenarios were prepared: one taking into account the step change in setpoint and the other one which considered robustness to load disturbances. The control performance was assessed using Integral Absolute Error and Integral Square Error. The proposed MMS method significantly improved the accuracy and stability of the rotational speed control. Testing results showed control performance improvements of up to 15%. The MMS provides a novel approach to control system optimisation in preclinical research equipment, ensuring that experimental results using the RRA are more consistent and replicable.