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
fDate :
3/1/2001 12:00:00 AM
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;
Journal_Title :
Control Systems Technology, IEEE Transactions on
