제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.62.1-62
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- 2001
Performance Tuning Method of Inverse Optimal PID Control for Mechanical Systems
- Choi, Young-Jin (POSTECH) ;
- Chung, Wan-Kyun (POSTECH) ;
- Youm, Young-Il (POSTECH)
- 발행 : 2001.10.01
초록
This paper suggests an inverse optimal PID control design method for the trajectory tracking case of mechanical systems. Also, simple coarse/fine performance tuning laws are suggested based on the analysis for performance limitation of inverse optimal PID controller. Experimental results for a robot manipulator show the validity of our analysis for the performance tuning methods.
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