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
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132024
