# Improving the Closed-Loop Tracking Performance Using the First-Order Hold Sensing Technique with Experiments

arXiv: https://arxiv.org/abs/1801.01263 · HTML: https://mlsanity.com/paper/1801.01263/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Jan 2018.

## Built on by (most cited first, 1 of 1)

- [EDELINE: Enhancing Memory in Diffusion-based World Models via Linear-Time Sequence Modeling](https://mlsanity.com/paper/2502.00466/) (2025)

## Abstract (arXiv)

This paper proposes a new perspective in the enhancement of the closed-loop tracking performance by using the first-order hold (FOH) sensing technique. Firstly, the literature review and fundamentals of the FOH are outlined. Secondly, the performance of the most commonly used zero-order hold (ZOH) and that of the FOH are compared. Lastly, the detailed implementation of the FOH on a pendulum tracking setup is presented to verify the superiority of the FOH over the ZOH in terms of the steady state tracking error. The results of the simulation and the experiment are in agreement.