Robust PID Control of Electrical Drive with Compliant Load
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چکیده
This paper deals with motion control of an electrical drive with a compliant load. Particular problem of velocity PID control is studied due to the extensive use of this control scheme in the industrial drives. The partial pole-placement method is used for the derivation of a feature-based parametrization of a set of stabilizing controllers which provide an active vibration damping functionality. Achievable quality of control is evaluated by means of proper performance indices in the form of H∞ norm of important closed loop transfer functions. Simulation experiments demonstrate the application of the proposed method.
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