Research on Nussbaum gain control method and its integration with PID strategy

The advantage of Nussbaum gain method is that it can handle the unknown control direction problem, but it also has the disadvantage that the dynamic performance is not satisfactory. The most serious problem is that it can produce big over shoot and also it causes chattering problems. The PID strategy can improve the dynamic performance of many real systems. So in this paper, a kind of restricted Nussbaum gain method is integrated with PID strategy in order to increase the damp of the system so the over shoot and chattering phenomenon will be reduced.