On motion control design and tuning techniques

The conventional proportional, integral, derivative (PID) controller/and some common linear variations to PID, are evaluated along with recently introduced parameterized loop shaping and active disturbance rejection control (ADRC). The evaluation is made using a simulation of a nonlinear DC servomotor driven "pick & place" positioning system that includes control input saturation, power amplifier saturation, motor current limit, viscous and coulomb friction, and gear backlash. The effects of adding torque disturbance, sensor noise, mechanical resonance, and load changes are examined for the various control methods. The relative merits of these control techniques in regards ease of controller design and tuning versus performance are summarized.