Title :
New results in NPID control: tracking, integral control, friction compensation and experimental results
Author :
Armstrong, Brian ; Neevel, David ; Kusik, Todd
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
Abstract :
NPID (nonlinear PID) control analysis and design methods are extended to tracking, and to systems with state feedback and integral control. Experimental results are presented showing improved tracking accuracy and friction compensation by NPID control
Keywords :
compensation; control system analysis; control system synthesis; friction; nonlinear control systems; state feedback; three-term control; tracking; friction compensation; integral control; nonlinear PID control; tracking; Control systems; Damping; Differential equations; Error correction; Force control; Friction; Lyapunov method; State feedback; State-space methods; Switches;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772394
