Experimental Demonstration of a Nonlinear PID-Based Control Design Using Multiple Hybrid Integrator-Gain Elements

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Abstract

In this paper, the use of multiple hybrid integrator-gain elements in a PID-based control design is dis-cussed. From a describing function perspective, each individual element possesses similar magnitude characteristics as a linear-equivalent filter, but with significantly reduced phase lag. These preferable phase properties potentially facilitate a closed-loop controller design with increased bandwidths. However, as a drawback, the use of multiple nonlinearities in the controller may increase the discrepancy between a performance prediction on the basis of describing functions, and true time-domain system behaviour. For the proposed nonlinear controller, conditions are formulated by which a describing function analysis may still yield meaningful time-domain performance predictions. The usefulness of these conditions, and effectiveness of the nonlinear control design are experimentally demonstrated on a motor-load motion system.

Original languageEnglish
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers
Pages4307-4312
Number of pages6
ISBN (Electronic)9781538682661
DOIs
Publication statusPublished - 27 Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: 1 Jul 20203 Jul 2020
http://acc2020.a2c2.org/

Conference

Conference2020 American Control Conference, ACC 2020
Abbreviated titleACC 2020
Country/TerritoryUnited States
CityDenver
Period1/07/203/07/20
Internet address

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