Nonlinear proportional and derivative control for high disturbance rejection and high gain force control
- 30 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A non-model-based, nonlinear proportional-and derivative (NPD) controller for high disturbance rejection and high-gain force control is introduced. The controller actively raises the damping and stiffness exponentially when the motion is in an unfavorable direction. Design and analysis are given for a second-order system. Theoretical and experimental comparisons to a conventional proportional-and-derivative (PD) controller show that the NPD controller gives better performance in disturbance rejection for position control and in transient response for high-gain controlKeywords
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