International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
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A Systematic Gain Tuning of PID Controller Based on the Concept of Time Delay Control

  • Lee, Jeong-Wan (Division of Mechanical and Mechatronics Engineering, Kangwon National University)
  • Published : 2008.10.01
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Abstract

In this paper, through the study of discrete implementation of time delay control (TDC) and PID control algorithm, a new systematic gain selection method for PID controller is proposed. An important advantage of this method is that it may be applied to real systems with very simple and systematic procedure. The proposed method is derived for SISO systems and then extended to MIMO system. Through simulation for the second order non-linear plant and experiment on 2-DOF robot, the effectiveness of the proposed method is confirmed. The proposed method could solve the problem of difficulty in gain tuning of existing PID controller.

Keywords

References

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