Title :
CAD of nonlinear PID controllers for highly nonlinear servo systems
Author :
Nassirharand, Amir ; Hoq, Nayeem
Author_Institution :
Dept. of Mech. Eng., Kentucky Univ., Lexington., KY, USA
Abstract :
A new computer-aided and systematic nonlinear PID controller design methodology for use with highly nonlinear, deterministic, time-invariant, and single-axis servo systems is developed. The methodology is based on a time-domain technique. The methodology and the associated software are demonstrated by solving a problem of the sort encountered in robotics. The overall behavior of the feedback system with the synthesized controller is compared and contrasted with results previously obtained using a frequency domain approach
Keywords :
control system CAD; controllers; feedback; nonlinear control systems; robots; servomechanisms; three-term control; time-domain synthesis; CAD; deterministic servo system; feedback; nonlinear PID controllers; nonlinear servo systems; robotics; single-axis servo systems; software; synthesized controller; time invariant servo system three term control; time-domain technique; Control system synthesis; Control systems; Design automation; Design methodology; Feedback; Nonlinear control systems; Robots; Servomechanisms; Three-term control; Time domain analysis;
Conference_Titel :
Aerospace and Electronics Conference, 1988. NAECON 1988., Proceedings of the IEEE 1988 National
Conference_Location :
Dayton, OH
DOI :
10.1109/NAECON.1988.195041
