Design of Adaptive I-PD Control System for 2-DOF Flexible Link Robot
نویسندگان
چکیده
Proportional-Integral-Derivative (PID) controllers are the most employed controllers in industry. As one of the PID parameter tuning methods, partial model matching method is proposed by Kitamori. In this method, we can get the PID parameters calculated systematically. However, if we cannnot get the enough information about controlled object in advance, the performance of sysytem may become bad. So, in this paper, we propose an adaptive I-PD control system and show the effectiveness by the experiment using 2-DOF Serial Flexible Link Robot.
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