A Practical Method to Improve the Tracking Performance of PID control

PID control has long been known as the most preferred control method in industrial applications. Although PID control provides appropriate control performance in linear systems, it is difficult for PID control to ensure the required control performance in nonlinear systems like robot manipulators. To improve the control performance of robot manipulators, we propose a practical control method for PID control. The proposed method is designed based on PID control without any parameters and complicated functions. Therefore, it can be easily implemented because of its simplicity and can provide enhanced control performance through only PID gains and feedback states. The advantages of the proposed controller are verified in a simulation study.