• Journal of Drive and Control
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• v.14 no.4
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• pp.23-28
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• 2017

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.263-269
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• 1999

In this paper, an unifying design algorithm is presented for efficient digital implementation of continuous PID controller using general discrete orthogonal functions. The proposed algorithm is an algebraic method to determine controller parameters, which can unify controller design procedures divided into three ways. A set of linear equations for the controller design are derived from simple algebraic transformation based on general discrete orthogonal functions. By solving these equations, all of the controller parameters can be determined directly and simultaneously, which thus makes the design procedure systematic and straightforward. It does not involve any trial and error procedure, hence the difficulty of conventional approach can be avoided. The simulation results and discussions are given to demonstrate the efficiency of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.579-584
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• 1998

This paper presents an efficient algorithm which determines the parameters of discrete PID controller. The proposed algorithm is an algebraic method to obtain controller parameters using ROM(Reduced Order Model), which can not only make design procedure simple but also reduce the computational burden required for controller implementation. Also, by solving a set of linear equations based on least squares method, the proposed method can make the controller design procedure systematic. Simple examples are given to demonstrate the effectiveness of our method when compared with widely-used conventional method.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.314-320
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• 2005

In this paper, a methodology for estimating the parameters of a discrete-time system and designing a digital PID controller based on the estimated model and a genetic algorithm is presented. To deal with optimization problems occurring regarding parameter estimation and controller design, a pseudo parallel genetic algorithm (PPGA) is used. The parameters of a discrete-time system are estimated using both the model technique and a PPGA. The digital PID controller is described by the pulse transfer function and its parameters are tuned based on both the model reference technique and another PPGA. A set of experimental works on two processes are carried out to illustrate the performance of the proposed method.

• Journal of the Semiconductor & Display Technology
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• v.16 no.4
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• pp.46-51
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• 2017

Recent controller design techniques often discretize the target system and implement a discrete controller that is digitized to match the target system. When constructing such a discrete system, it is necessary to first determine the sampling time. The smaller the sampling time is, the more advantageous it can be made similar to the original system, but the cost is a problem when realizing such a configuration as hardware. On the other hand, the longer the time, the more different the system is from the original system, and eventually the control becomes impossible. In this paper, we consider the above problem and propose a more logical approach to determine the sampling time in the discrete system and investigate the relation with the differential controller. We also apply this process to a nonlinear system called ARAGO disc and verify its validity through computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.644-649
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• 2006

In this paper, a methodology for estimating the model parameters of a discrete-time system and tuning a digital PID controller based on the estimated model and a genetic algorithm is presented. To deal with optimization problems regarding parameter estimation and controller tuning, pseudo-parallel genetic algorithms(PPGAs) are used. The parameters of a discrete-time system are estimated using both the model adjustment technique and a PPGA. The digital PID controller is described by the pulse transfer function and then its three gains are tuned based on both the model reference technique and another PPGA. A set of experimental works on two processes are carried out to illustrate the performance of the proposed method.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.8
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• pp.774-781
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• 1991

This paper proposes an auto-tuning method of a discrete -PIC controllers which is based on the Ziegler and Nichols's PID Tuning Rule. This tunign rule is derived using the Pade's first order approximation and it prevents the performance degradation caused by the time-delay effect of zero order holder when the Ziegler-Nichols tuning rule is applied to a discrete PID controller. A simple and practical auto-tuning method is proposed through combining this discrete tuning rule with the relay control. The auto-tuning scheme is implemented on a microprocessor based system and is applied to a position control system to show the effectiveness of the discrete tuning rule.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1671-1676
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• 1991

Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.

• Journal of the Institute of Electronics Engineers of Korea TE
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• v.37 no.5
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• pp.103-110
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• 2000

In This paper, we propose a design procedure for a SD $H_{\infty}$controller with PID performance. In developing the procedure, we use the basic idea of standard$H_{\infty}$problem, and then applied it to the SD system, which consists of the continuous plant and the discrete controller. This $H_{\infty}$controller design procedure involves the selections of weighting functions. The selections considered the relation of the closed loop specification between the $H_{\infty}$controller and PID. We illustrate this procedure in the controller design for a two-mass spring system.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.105-108
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• 2000

Many control techniques have been proposed in order to improve the control performance of discrete-time domain control system. In the position control system using a DC servo motor as a driver, the response-characteristic of system is controlled by the PID controller. In the PID control system, the transient response characteristic is more increased and settling time gets longer if gains of PID controller are unsuitable. In this paper, therefore, a expended PID control system is constructed by inserting a pre-compensator at output terminal of PID controller. It is implemented by using the double layers neural network. Form the results of computer simulation in the proposed control algorithm, its usefulness is verified.