Title: Experimental Demonstration of a Nonlinear PID-Based Control Design Using Multiple Hybrid Integrator-Gain Elements
Abstract: In this paper, the use of multiple hybrid integrator-gain elements in a PID-based control design is discussed. 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.
Publication Year: 2020
Publication Date: 2020-07-01
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 3
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