New results in NPID control: Tracking, integral control, friction compensation and experimental results

被引：108

作者：

Armstrong, B ^{[1
]}

Neevel, D ^{[1
]}

Kusik, T ^{[1
]}

机构：

[1] Univ Wisconsin, Dept Elect Engn & Comp Sci, Milwaukee, WI 53201 USA

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2001年 / 9卷 / 02期

关键词：

friction compensation; integral control; linear systems; Lyapunov stability; nonlinear control; nonlinear feedback;

D O I：

10.1109/87.911392

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

Nonlinear proportional-integral-derivative (NPID) control is implemented by varying the controller gains as a function of system state. NPID control has been previously described and implemented, and recently a constructive Lyapunov stability proof has been given. Here, NPID control analysis and design methods are extended to tracking, and to systems with state feedback and integral control, Experimental results are presented showing improved tracking accuracy and friction compensation by NPID control.

引用

页码：399 / 406

页数：8

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