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Open AccessArticle

A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back

Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, 9 Engineering Drive 1, 117576, Singapore
Ohnishi Laboratory, Department of System Design Engineering, Keio University, Yokohama 223-8522, Japan
Author to whom correspondence should be addressed.
Academic Editor: Paul Stewart
Machines 2015, 3(3), 208-222;
Received: 27 June 2015 / Revised: 3 August 2015 / Accepted: 13 August 2015 / Published: 20 August 2015
(This article belongs to the Special Issue Advances in Control Engineering)
Proportional-Integral-Derivative (PID) control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results. View Full-Text
Keywords: PID control; robustness; robotics; motion control systems PID control; robustness; robotics; motion control systems
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Sariyildiz, E.; Yu, H.; Ohnishi, K. A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back. Machines 2015, 3, 208-222.

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