Simple saturated PID control for fast transient of motion systems

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This paper proposes a simple saturated proportional-integral-derivative (PID) control for set-point stabilization of motion systems subject to actuator constraint. The proposed controller consists of a saturated proportional-derivative (PD) term and a saturated integral (I) term that robustly compensates the constant or slow time-varying unknown disturbances. It is shown that the proposed saturated PID (SPID) controller globally asymptotic stabilizes the set-point of motion systems without violation of actuator constraint. The appealing feature of the proposed approach is that it embeds the PD term within a single saturation function, which allows us to choose the proportional and derivative gains freely for faster transient and higher steady-state set-point precision. Numerical comparisons of an illustrative example demonstrate the improved performance of the proposed approach.

Original languageEnglish
Issue number2
Pages (from-to)8985-8990
Number of pages6
Publication statusPublished - 2020
Event21st IFAC World Congress - 2020 - Berlin, Germany
Duration: 12.07.202017.07.2020

    Research areas

  • Actuator constraint, Asymptotic stabilization, Motion systems, Proportional-integral-derivative (PID) control
  • Engineering