PID and filtered PID control design with application to a positional servo drive

Belai, Igor, Huba, Mikulas, Burn, Kevin and Cox, Chris (2019) PID and filtered PID control design with application to a positional servo drive. Kybernetika, 55 (3). pp. 540-560. ISSN 1805-949X

[img] PDF
Kybernetika_55_3_2019.pdf - Published Version
Restricted to Repository staff only

Download (5MB) | Request a copy

Search Google Scholar


This paper discusses a novel approach to tuning 2DOF PID controllers for a positional
control system, with a special focus on filters. It is based on the multiple real dominant pole method, applicable to both standard and series PID control. In the latter case it may be generalized by using binomial nth order filters. These offer filtering properties scalable in a much broader range than those allowed by a standard controller. It is shown that in terms of a modified total variance, controllers with higher order binomial filters allow a significant reduction of excessive control effort due to the measurement noise. When not limited by the sampling period choice, a significant performance increase may be achieved by using third order filters, which can be further boosted using higher order filters. Furthermore, all of the derived tuning procedures keep the controller design sufficiently simple so as to be attractive for industrial applications. The proposed approach is applied to the position control of electrical drives, where quantization noise can occur as a result of angular velocity reconstruction using the differentiated outputs of incremental position sensors.

Item Type: Article
Subjects: Engineering > Mathematics (Engineering)
Engineering > Mechanical Engineering
Divisions: Faculty of Technology > School of Engineering
Related URLs:
Depositing User: Kevin Burn
Date Deposited: 03 Oct 2019 10:44
Last Modified: 30 Sep 2020 11:17
ORCID for Kevin Burn: ORCID iD

Actions (login required)

View Item View Item


Downloads per month over past year