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http://dx.doi.org/10.5302/J.ICROS.2009.15.6.590

Design of Robust Stability Maximizing PI Controller in Motor Parameter Variation  

Cho, Nae-Soo (경북대학교 전자전기컴퓨터학부)
Ryu, Jee-Youl (부경대학교 전자컴퓨터정보통신공학부)
Park, Chul-Woo (영진전문대학 컴퓨터응용기계계열)
Kwon, Woo-Hyen (경북대학교 전자전기컴퓨터학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.6, 2009 , pp. 590-597 More about this Journal
Abstract
This paper propose a PI controller that maximizes the degree of stability using a stability in a simplified motor model the applies decoupling control. The PI controller gains are directly from the motor parameters, thereby reducing the element of trial and error, and, the Kharitonov equation was used to evaluate the robustness of the gains to changes in the motor parameters. In addition, the system poles are located in the same position, the proposed method can provide a fast response. The effectiveness of the proposed controller is verified by simulation results.
Keywords
PI controller; decoupling control; stability; Kharitionov equation;
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