CAD of nonlinear PID controllers for highly nonlinear servo systems

A new computer-aided and systematic nonlinear PID controller design methodology for use with highly nonlinear, deterministic, time-invariant, and single-axis servo systems is developed. The methodology is based on a time-domain technique. The methodology and the associated software are demonstrated by solving a problem of the sort encountered in robotics. The overall behavior of the feedback system with the synthesized controller is compared and contrasted with results previously obtained using a frequency domain approach.<
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