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

Volume

9

Issue

2

fYear

2001

fDate

3/1/2001 12:00:00 AM

Firstpage

399

Lastpage

406

Abstract

Nonlinear proportional-integral-derivative (NPID) control is implemented by varying the controller gains as a function of system state. NPID control has been previously described and implemented, and recently a constructive Lyapunov stability proof has been given. Here, NPID 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

Lyapunov methods; compensation; control system analysis; control system synthesis; friction; nonlinear control systems; state feedback; three-term control; tracking; NPID control analysis; NPID control design; PID control; constructive Lyapunov stability proof; friction compensation; integral control; nonlinear PID control; state feedback control; tracking; Control systems; Damping; Friction; Linear systems; Lyapunov method; Nonlinear control systems; Phase modulation; Pi control; Proportional control; Springs;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.911392

Filename

911392