Title :
Direct controller parameter tuning for systems with backlash
Author :
Wakasa, Yuji ; Azakami, Ryo
Author_Institution :
Grad. Sch. of Sci. & Eng., Yamaguchi Univ., Ube, Japan
Abstract :
Fictitious reference iterative tuning (FRIT) is a kind of direct controller parameter tuning method and has received considerable attention as a simple and practical method. This paper presents two kinds of FRIT methods for systems with backlash and investigates the backlash models and their inverse models. Simulation and experimental results are provided to illustrate the effectiveness of the proposed methods.
Keywords :
control nonlinearities; control system synthesis; iterative methods; FRIT methods; backlash models; backlash systems; direct controller parameter tuning; fictitious reference iterative tuning; inverse models; nonlinearity; DC motors; Educational institutions; Inverse problems; Iterative methods; Linear systems; Standards; Tuning; Backlash; Direct controller parameter tuning; Inverse model; PID control;
Conference_Titel :
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location :
Sapporo
DOI :
10.1109/SICE.2014.6935178
