On the optimal PID performance tuning for robotic manipulators

Although most robotic manipulators have used the conventional PID or PID plus something, e.g., gravity compensator, friction compensator, disturbance observer and so on, there exist still no general tuning rules which can adjust the PID control performance. The paper explains the tuning methods of inverse optimal PID control assuring the extended disturbance input-to-state stability and shows its validity through many experiments for a robotic manipulator