Equivalence Among PID and Several Robust Control Methods with Application to Motor Control

This paper explores the equivalence among proportional-integral-derivative (PID) control and several robust control methods, including an adaptive backstepping control, an improved backstepping control, “P+PI” control and a quasi-sliding mode control, in time domain. It can be concluded that all the discussed robust control methods can be reconstructed in PID form. Experimental results of a servo motor control system verify the equivalence among PID and the discussed robust control methods.