Robust PID design of flexible manipulators through pole assignment

Author

Eriksson, B. ; Wikander, J.

Author_Institution

Dept. Machine Design Mechatronics Lab, R. Inst. of Technol., Stockholm, Sweden

fYear

2002

fDate

2002

Firstpage

420

Lastpage

425

Abstract

A robust pole placement design method is given that satisfies given specified closed loop performance for a motion control system with uncertain process parameters. Complex plane specifications on the nominal closed loop poles are calculated from maximum trajectory deviations and maximum amplitude on the sensitivity function. The design problem is solved by calculating bounds on the control parameters that satisfies the complex plane specification for the closed loop system, for all vertices of the uncertain parameter space.

Keywords

closed loop systems; control system analysis; control system synthesis; flexible manipulators; poles and zeros; robust control; three-term control; uncertain systems; closed loop performance; complex plane specifications; flexible manipulators; motion control system; pole assignment; robust PID control design; robust pole placement design method; sensitivity function; uncertain parameter space; uncertain process parameters; Bandwidth; Control systems; Elasticity; Mechanical sensors; Mechatronics; Motion control; Resonance; Robust control; Robustness; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2002. 7th International Workshop on

Print_ISBN

0-7803-7479-7

Type

conf

DOI

10.1109/AMC.2002.1026957

Filename

1026957