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

S. J.A.M.Van Den Eijnden, M. F. Heertjes, H. Nijmeijer

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

Samenvatting

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.

Originele taal-2Engels
Titel2020 American Control Conference, ACC 2020
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's4307-4312
Aantal pagina's6
ISBN van elektronische versie9781538682661
DOI's
StatusGepubliceerd - jul 2020
Evenement2020 American Control Conference, ACC 2020 - Denver, Verenigde Staten van Amerika
Duur: 1 jul 20203 jul 2020

Congres

Congres2020 American Control Conference, ACC 2020
LandVerenigde Staten van Amerika
StadDenver
Periode1/07/203/07/20

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