Quantifying controller preference reliability under uncertainty in a rotary inverted pendulum benchmark

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dc.authorid0009-0008-0959-311X
dc.authorid0000-0001-9720-9852
dc.authorid0000-0003-2746-9477
dc.contributor.authorCoşkun, Yusuf
dc.contributor.authorÖzyılmaz, Lale
dc.contributor.authorAydın, Muhammet
dc.date.accessioned2026-11-09T07:58:08Z
dc.date.available2026-11-09T07:58:08Z
dc.date.issued2026
dc.departmentFakülteler, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractSimulation-based controller comparisons can report a single winner even when score differences are too small to justify a unique engineering preference. We assessed preference reliability for five fixed controllers on a numerically verified nonlinear rotary inverted pendulum model using two independent Latin-hypercube realizations across matched ± 10%, ± 15%, and ± 20% uncertainty bands (30,000 closed-loop simulations). A four-metric score and a prespecified 5% practical margin quantified controller separation. Under the common uncertainty score, PID had the lowest controller robustness index in every band, but the four leading indices remained within 3.87%. In the pooled ± 15% domain, all ten paired comparisons were detectable after Holm correction, yet 69.40% of 2,000 scenario blocks lacked a unique practical preference. PID retained rank one in 99.95% of paired-bootstrap replicates but only 63.16% and 43.06% under two weight-variation analyses. Post-review sensitivity analyses showed that the principal practical-separation conclusion was robust to the tested CRI coefficient, realization-specific median normalization, and heavier-tail dependence models, while command delay altered separation among near-tied controllers. These findings are specific to the fixed control ler portfolio, score definition, RIP model, and simulated uncertainty domain.
dc.identifier.citationCoşkun, Y., Özyılmaz, L., & Aydın, M. (2026). Quantifying controller preference reliability under uncertainty in a rotary inverted pendulum benchmark. Scientific Reports, https://doi.org/10.1038/s41598-026-76797-y
dc.identifier.doi10.1038/s41598-026-76797-y
dc.identifier.issn2045-2322
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1038/s41598-026-76797-y
dc.identifier.urihttps://hdl.handle.net/20.500.13055/1700
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.indekslendigikaynak.otherSCI-E - Science Citation Index Expanded
dc.institutionauthorCoşkun, Yusuf
dc.institutionauthorid0009-0008-0959-311X
dc.language.isoen
dc.publisherSpringer Nature Link
dc.relation.ispartofScientific Reports
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.subjectRotary Inverted Pendulum
dc.subjectController Benchmarking
dc.subjectUncertainty Quantification
dc.subjectPractical Indifference
dc.subjectGaussian Process Regression
dc.subjectController Preference
dc.titleQuantifying controller preference reliability under uncertainty in a rotary inverted pendulum benchmark
dc.typeArticle
dspace.entity.typePublication

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