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A performance-oriented control design improves the controller settling time with each additional processing resource, which creates a resources-performance trade-off. In real-life applications, it is common to have a continuous-time model with additive uncertainties in one or more parameters that may affect the controller performance and the aforementioned trade-off. We present a robustness analysis framework for performance-oriented pipelined controllers with additive model uncertainties. We present a technique to obtain discrete-time uncertainties based on the continuous-time uncertainties for given uncertainty bounds. To benchmark such uncertainty bounds for a real system, we consider uncertainties in one element of the system, potentially caused by multiple uncertain parameters in the model. Robustness and its impact in the trade-off analysis are studied. We also provide a robustness-oriented pipelined controller design that takes into account the benchmarked uncertainties. Our results show that in performance-oriented designs, the tolerable uncertainties for a pipelined controller decrease when increasing the number of pipes. In robustness-oriented designs, the controller robustness is enhanced with each newly added pipe. We show the feasibility of our technique by implementing a realistic example in a Hardware-in-the-Loop simulation.<\/jats:p>","DOI":"10.1145\/3326067","type":"journal-article","created":{"date-parts":[[2019,9,12]],"date-time":"2019-09-12T14:22:21Z","timestamp":1568298141000},"page":"1-26","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["Designing a Controller with Image-based Pipelined Sensing and Additive Uncertainties"],"prefix":"10.1145","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2691-8680","authenticated-orcid":false,"given":"R\u00f3binson","family":"Medina","sequence":"first","affiliation":[{"name":"Eindhoven University of Technology, Eindhoven, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan","family":"Valencia","sequence":"additional","affiliation":[{"name":"Eindhoven University of Technology, Eindhoven, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sander","family":"Stuijk","sequence":"additional","affiliation":[{"name":"Eindhoven University of Technology, Eindhoven, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dip","family":"Goswami","sequence":"additional","affiliation":[{"name":"Eindhoven University of Technology, Eindhoven, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Twan","family":"Basten","sequence":"additional","affiliation":[{"name":"Eindhoven University of Technology and ESI, TNO, Eindhoven, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2019,9,12]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3036686.3036696"},{"key":"e_1_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2683483.2683484"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2005.1582653"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/s40313-017-0301-7"},{"key":"e_1_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2013.6760901"},{"key":"e_1_2_1_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.250573"},{"volume-title":"Proceedings of the AMC. 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