Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Intelligent PID Controller Design Using Root-Locus Analysis for Systems with Parameter Uncertainties

불확실한 파라미터를 갖는 시스템을 위한 근궤적법을 이용한 지능형 PID 제어기 설계

  • Published : 2008.10.01
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Abstract

In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error,is described. As well, such a PID controller is designed to mate two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis. which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

Keywords

References

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