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http://dx.doi.org/10.7839/ksfc.2017.14.4.023

Identification of the Relationship Between the Discrete TDCIM and the Discrete PID Controller  

Park, Sang Hyun (R&D Center, Robostar Co., Ltd.)
Jeong, Eui In (R&D Center, Robostar Co., Ltd.)
Shin, Dong Gwan (R&D Center, Robostar Co., Ltd.)
Publication Information
Journal of Drive and Control / v.14, no.4, 2017 , pp. 23-28 More about this Journal
Abstract
Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.
Keywords
PID Controller; Time-Delay Control; Internal Model Control; Robot Manipulator;
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