in this paper, a robust pid control scheme is proposed for micro-electro-mechanical-systems(mems) optical switches. the proposed approach is designed in a way which solves twochallenging and important problems. the first one is successful reference tracking and the second ismitigating the system nonlinearities. the overall system composed of nonlinear mems dynamicsand the pid controller is prov...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

The paper describes some new aspects of the course on Robust Constrained PID Control that is being developed and tought at the Faculty of Electrical Engineering and Information Technology of the STU in Bratislava for more than two decades. New important notions enabling more effective treatment of the carried out analysis and design are introduced and computer tools enabling to achieve homogeno...

In this paper robust PID control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. In dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. To develop the idea of control for cable robots with elastic cables, a robust PID control for cable driven robots with ideal rigid cables is firstly de...

We examine a design method for robust stabilizing modified proportional– integral–derivative (PID) controllers for time-delay plants with uncertainty. The PID controller structure is very widely used in industrial applications. However, the plants to which the PID controller is applicable are restricted. Yamada, Hagiwara and Shimizu proposed a design method for robust stabilizing modified PID c...

This paper addresses an approximation-based anti-windup (AW) control strategy for suppressing the windup effect caused by actuator saturation nonlinearity in proportional–integral–derivative (PID) controlled systems. The effect of actuator constraint is firstly regarded as a disturbance imported to the PID controller. The external disturbance can then be modeled by a linear differential equatio...

The problem of robust multiloop proportional-integral-derivative (PID) controller tuning for multivariable processes is addressed in this paper. The problem is formulated in the H∞ control framework, and the controller parameters are determined based on both user-specified performance and robust stability. The PID settings are computed by solving a nonlinear optimization problem with matrix ine...

A comprehensive theory for robust PID control in continuous-time and discrete-time domain is reviewed in this paper. For a given finite set of linear time invariant plants, algorithms for fast computation of robustly stabilizing regions in the (kP, kI , kD)-parameter space are introduced. The main impetus is given by the fact that non-convex stable regions in the PID parameter space can be buil...