Cart (Loading....) | Create Account
Close category search window
 

A Systematic Method for Gain Selection of Robust PID Control for Nonlinear Plants of Second-Order Controller Canonical Form

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Pyung Hun Chang ; Mech. Eng. Dept., Korea Adv. Inst. of Sci. & Technol., Daejeon ; Je Hyung Jung

A systematic method to select gains of a discrete proportional-integral-derivative (PID) controller is presented. The PID controller with the gains obtained by the proposed method can robustly control nonlinear multiple-input-multiple-output (MIMO) plants in a second-order controller canonical form, such as robot dynamics. This method has been made possible by the finding that the discrete PID control is equivalent to the discrete form of time-delay control (TDC), a robust control method for nonlinear plants with uncertainty. By using this equivalence relationships are obtained between PID gains and parameters of TDC, which enable a systematic method for the select PID gains. In addition, based on the systematic method, a simple and effective method is proposed to tune PID gains applicable to nonlinear plants with inaccurate models. This method incorporates a set of independent tuning parameters that is far less than those for conventional methods for PID gain selection. The usefulness of the proposed methods is verified through the ease and simplicity of determining PID gains for six degrees-of-freedom (DOF) programmable universal machine for assembly (PUMA)-type robot manipulator; the effectiveness of these PID gains is confirmed by the adequate and robust performance through experimentation on the robot.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:17 ,  Issue: 2 )

Date of Publication:

March 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.