PID Trajectory Tracking Control for Mechanical Systems

Youngjin Choi

ISBN 10: 3540205675 / ISBN 13: 9783540205678

Editore: Springer, Springer Vieweg, 2004

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Druck auf Anfrage Neuware - Printed after ordering - Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this book. There are many books of PID controller for the purpose of process control, but it is hard to nd a book on the characteristics of PID control for mechanical systems. In the rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di erent from set-point regulation one in that the desired con guration, velocity and acceleration pro les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.

Codice articolo 9783540205678

Dati bibliografici

• Titolo: PID Trajectory Tracking Control for Mechanical Systems
• Editore: Springer, Springer Vieweg
• Data di pubblicazione: 2004
• Lingua: Inglese
• ISBN 10: 3540205675
• ISBN 13: 9783540205678
• Rilegatura: Taschenbuch
• Condizione: Neu
• Dimensioni: 233 L x 155 A x 8 P (millimetri) 233 millimetri di larghezza per 155 millimetri di altezza per 8 millimetri di profondità
• Peso: 205 grammi

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Riassunto

Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear e?ect. Though it must be a widely - cepted controller for mechanical control systems, it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic performance t- ing method, and output feedback PID control have not been clearly presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this book. There are many books of PID controller for the purpose of process control, but it is hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?rst place, when nonlinear optimal control theory is applied to mechanical systems, a class of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two methods to solve a class of HJ eq- tions: a direct method using an approximation and inverse method ?nding the performance index from a class of HJ equations. Also, there are two control methods according to the objective: the set-point regulation control and t- jectory tracking control. The trajectory tracking control is basically di?erent from set-point regulation one in that the desired con?guration, velocity and acceleration pro?les according to time progress are added to the motion of mechanical system. This book is focusing on an inverse optimization method and the trajectory tracking control system.

Contenuti

1 Introduction.- 2 Robust and Optimal Control for Mechanical Systems.- 3 Optimality of PID Control.- 4 Performance Limitation and Tuning.- 5 Automatic Performance Tuning.- 6 Output Feedback PID Control.- 7 Concluding Remarks.