Title :
Friction compensation: PID synthesis and state control
Author :
Altpeter, F. ; Myszkorowski, P. ; Kocher, M. ; Longchamp, R.
Author_Institution :
Inst. d´Autom., Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland
Abstract :
Synthesis of friction compensation using standard PID and advanced state controllers is discussed in this paper. Conventional digital controller technology leads to medium performance of PID control for very small displacements. By state feedback linearization, excellent performances for any reference are achieved with economically reasonable sensors and processors.
Keywords :
control system synthesis; friction; linearisation techniques; mechanical variables control; sensors; state feedback; three-term control; PID synthesis; advanced state controllers; digital controller technology; friction compensation Synthesis; processors; sensors; standard PID controllers; state feedback linearization; Bandwidth; Biological system modeling; Friction; Mathematical model; Observers; PD control; Standards; Friction; Industry Day; Nonlinear Control; PID Control;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
