• Journal of Institute of Control, Robotics and Systems
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• v.10 no.6
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• pp.510-518
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• 2004

The PID trajectory tracking controller for robotic systems shows performance limitation imposed by inverse dynamics according to desired trajectory. Since the equilibrium point can not be defined for the control system involving performance limitation, we define newly the quasi-equilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the auto-tuning method for PID controller. Also, the quasi-equilibrium region is used as the target performance of auto-tuning PID trajectory tracking controller. The auto-tuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.135-137
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• 1992

A new algorithm for self-tuning digital controller is proposed. The system to be controlled is identified on line in auto-regressive-moving-average(ARMA) form via recursive least mean square method. The control law is obtained from the minimization of an objective function. The proposed objective function is similar to that of Generalized Minimum Variance(GMV) method but modified to lessen the overshoot and to avoid numerical divergence problem. This algorithm is applied to the power system stabilization and the comparison of the proposed method with a conventional power system stabilizer(PSS) is presented.