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A practical iterative PID tuning method for mechanical systems using parameter chart

Abstract : In this paper, we propose a method of iterative proportional-integral-derivative parameter tuning for mechanical systems that possibly possess hidden mechanical resonances, using a parameter chart which visualises the closed-loop characteristics in a 2D parameter space. We employ a hypothetical assumption that the considered mechanical systems have their upper limit of the derivative feedback gain, from which the feasible region in the parameter chart becomes fairly reduced and thus the gain selection can be extremely simplified. Then, a two-directional parameter search is carried out within the feasible region in order to find the best set of parameters. Experimental results show the validity of the assumption used and the proposed parameter tuning method.
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https://hal-centralesupelec.archives-ouvertes.fr/hal-02276323
Contributor : Delphine Le Piolet <>
Submitted on : Monday, September 2, 2019 - 3:04:23 PM
Last modification on : Wednesday, September 16, 2020 - 5:34:10 PM

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M. Kang, Joono Cheong, H. M. Do, Y. Son, Silviu-Iulian Niculescu. A practical iterative PID tuning method for mechanical systems using parameter chart. International Journal of Systems Science, Taylor & Francis, 2017, 48 (13), pp.2887-2900. ⟨10.1080/00207721.2017.1357769⟩. ⟨hal-02276323⟩

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