Title: State-PID feedback control with application to a robot vibration absorber

Authors: Ge Guo, Zi Ma, Junfei Qiao

Addresses: Automation Research Center, Dalian Maritime University, Dalian 116026, China. ' Automation Research Center, Dalian Maritime University, Dalian 116026, China. ' College of Electronic and Control Engineering, Beijing University of Technology, Beijing 100022, China

Abstract: The pole-placement problem of linear systems by state-PID feedback is investigated. A general and efficient pole-placement solution for linear time-invariant systems with state-PID feedback is derived using the traditional procedures of full state feedback. The principle, called Separating Theorem, holds for pole-placement by state-PD, state-PI and state-PID feedback and is successfully applied to the control of a robot vibration absorber. These results open a new area for the design and tuning of state-PID feedback types of controller.

Keywords: pole placement; state-PID feedback; separating theorem; SISO linear time-invariant systems; robot control; robot vibration absorbers.

DOI: 10.1504/IJMIC.2006.008646

International Journal of Modelling, Identification and Control, 2006 Vol.1 No.1, pp.38 - 43

Available online: 13 Jan 2006 *

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