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http://dx.doi.org/10.5302/J.ICROS.2008.14.11.1094

Characteristics Comparison of Motion Controllers through Experiments  

Jung, Seung-Hyun (영남대학교 전자정보공학부)
Wang, Jun (영남대학교 전자정보공학부)
Han, Chang-Wook (동의대학교 전기공학과)
Park, Jung-Il (영남대학교 전자정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.11, 2008 , pp. 1094-1102 More about this Journal
Abstract
Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.
Keywords
disturbance rejection; motion control; LQR; PID; RIC(Robust Internal-loop Compensator);
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