Performance-oriented robust control for a class of mechanical systems: a study case

Control algorithms for mechanical systems (ie. industrial manipulators, robots, etc.) have been extensively studied in the last decade. We present an extension of the work of (Williamson and Canudas de Wit, 1993) to the PID+u/sub NL/ control structure and we demonstrate the advantages of this approach in a simulation example that represents the second-order mechanical systems subject to state disturbances and control input saturation. Firstly we present the general control law and then present the application of these ideas to the case of the PID-control structure.<<ETX>>

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