Title :
Improving settling time in a servo using a simple nonlinear PD controller
Author_Institution :
CINVESTAV-IPN, Mexico City
Abstract :
A simple nonlinear PD controller is proposed to improve settling time in a DC servo. Experimental results shows that the proposed algorithm performs better than a linear PD. A simple tuning procedure is also proposed and a stability proof is given
Keywords :
DC motor drives; control system analysis; control system synthesis; machine control; machine testing; machine theory; nonlinear control systems; servomotors; stability; two-term control; DC servomotor drives; control design; control performance; nonlinear PD controller; servo settling time improvement; stability proof; tuning procedure; Damping; Filters; Frequency estimation; Noise level; PD control; Robots; Servomechanisms; Servomotors; Stability; Velocity measurement;
Conference_Titel :
Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on
Conference_Location :
Cholula, Puebla
Print_ISBN :
0-7803-6606-9
DOI :
10.1109/ISIE.2000.930386
