Authors
Ryo Kurokawa, Takao [email protected]
Department of Mechanical Engineering, University of Hyogo, 2167 Shosha,
Himeji, Hyogo 671-2280 Japan
Ramon [email protected]
Department of Telecommunications and Systems Engineering, Universitat Autònomade
Barcelona, Edifici Q-Campus de la UAB, 08193 Bellaterra, Barcelona, Spain
Yasuo [email protected]
Department of Mechanical Engineering, University of Hyogo, 2167 Shosha,
Himeji, Hyogo 671-2280 Japan
Available Online 30 September 2018.
DOI
https://doi.org/10.2991/jrnal.2018.5.2.10
Keywords
PID control; Sampled-data system; SOPDT system; Sensitivity function; Robust
Abstract
In this paper, we propose a new design method of a second-order plus dead-time
(SOPDT) sampled-data Proportional-Integral-Derivative (PID) control system,
where the continuous-time plant is controlled using the discrete-time controller.
The proposed control system is designed so that the tracking performance
is optimized subject to the stability margin constraint. In the present
study, the servo and regulation optimal controllers are designed. Finally,
the effectiveness of the proposed method is demonstrated through numerical
examples.
Copyright
Copyright © 2018, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).