DocumentCode
2889088
Title
New results in NPID control: tracking, integral control, friction compensation and experimental results
Author
Armstrong, Brian ; Neevel, David ; Kusik, Todd
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Wisconsin Univ., Milwaukee, WI, USA
Volume
2
fYear
1999
fDate
1999
Firstpage
837
Abstract
NPID (nonlinear PID) control analysis and design methods are extended to tracking, and to systems with state feedback and integral control. Experimental results are presented showing improved tracking accuracy and friction compensation by NPID control
Keywords
compensation; control system analysis; control system synthesis; friction; nonlinear control systems; state feedback; three-term control; tracking; friction compensation; integral control; nonlinear PID control; tracking; Control systems; Damping; Differential equations; Error correction; Force control; Friction; Lyapunov method; State feedback; State-space methods; Switches;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772394
Filename
772394
Link To Document