DocumentCode
3272790
Title
Enhanced PID controller design
Author
Dorf, Richard C. ; Miller, David R.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2624
Abstract
A method is presented for designing proportional-integral-differential (PID) controller for single-input, single-output (SISO) systems and is subsequently extended to multiple-input, multiple-output (MIMO) systems of a certain class. All systems are assumed to be linear time-invariant systems and to employ unity output feedback. The method is shown to be particularly applicable to multiple robot joint control. It is shown that in many cases, the PID controller can be designed for each joint separately
Keywords
control system synthesis; feedback; linear systems; multivariable control systems; robots; three-term control; MIMO systems; PID controller design; SISO systems; control system synthesis; linear time-invariant systems; multiple robot joint control; multiple-input multiple-output systems; single-input single-output systems; unity output feedback; Closed loop systems; Control systems; Design methodology; Equations; Error correction; MIMO; Robots; Steady-state; Three-term control; Transient response;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132024
Filename
132024
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