1. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 Schematic of the proportional-injector direct-injection (PIDI) monopropellant-powered actuation system Figure Legend:

2. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 PIDI actuator integrated with a single-DOF robot arm Figure Legend:

3. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 Modeling schematic of the PIDI actuator Figure Legend:

4. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 1Hz, and corresponding valve commands Figure Legend:

5. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 4Hz, and corresponding valve commands Figure Legend:

6. Date of download: 6/26/2016 Copyright © ASME. All rights reserved. From: A Unified Force Controller for a Proportional-Injector Direct-Injection Monopropellant-Powered Actuator J. Dyn. Sys., Meas., Control. 2005;128(1):159-164. doi:10.1115/1.2168473 Sinusoidal force tracking of the PIDI monopropellant-powered actuator, at a frequency of 6Hz, and corresponding valve commands Figure Legend: