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This paper applied a new concept of a nonlinear model reference PID controller for a planar robot arm. The controller consists of two second order differential equations, each in terms of the angle error of a single joint from the designed trajectory. The coefficients of each differential equation are specifiable giving the ability to specify the behavior of the robot. Simulations are presented that show the ability of the robot arm with the nonlinear model reference PID controller to follow the precise designed trajectory.