State-PID feedback control with application to a robot vibration absorber. (16th January 2006)

• Record Type: Journal Article
• Authors: Guo, Ge; Ma, Zi; Qiao, Junfei
• Is Part Of: International journal of modelling, identification and control. Volume 1:Number 1(2006)
• Page Start: 38
• Page End: 43
• Publication Date: 2006-01-16
• Subjects: pole placement -- state-PID feedback -- separating theorem -- SISO linear time-invariant systems -- robot control -- robot vibration absorbers; Engineering -- Methodology -- Periodicals; Science -- Methodology -- Periodicals; 001.42
• Languages: English
• ISSNs: 1746-6172

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.