Abstract
In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the closed-loop system arbitrarily and guarantee that the remaining pole is not effecting the performance of the system. The freedom in design is also used to restrict the control signal upto a certain level, to reject disturbances and to increase robustness for parametric uncertainties.
| Original language | English |
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| Pages | 1001-1006 |
| Number of pages | 6 |
| Publication status | Published - 2003 |
| Event | Proceedings of 2003 IEEE Conference on Control Applications - Istanbul, Turkey Duration: 23 Jun 2003 → 25 Jun 2003 |
Conference
| Conference | Proceedings of 2003 IEEE Conference on Control Applications |
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| Country/Territory | Turkey |
| City | Istanbul |
| Period | 23/06/03 → 25/06/03 |