2–DOF PID Control of the Angular Position of an Industrial Plant Emulator

This paper employs a 2–DOF (2 Degrees of Freedom) PID (Proportional Integral Derivative) controller to control the angular position of the rotational load of an industrial plant emulator. The plant consists of a DC servo motor that is connected to a speed reducer with backlash, which in turn is connected to a rotational load through an elastic belt. The performance of the 2–DOF PID control system is compared with the performance of a PID control system. Experimental results demonstrate that the former control system performs better in the presence of multiple disturbances such as backlash, friction and vibration by decreasing the magnitude of the oscillations in the steady state.