Abstract

In this research, a simple technique for designing PID controller, which guarantees robust stability for two-mass systems with parameter uncertainties as well as rigid-body behavior and zero steady-state error, is described. As well, such a PID controller is designed to make two important frequencies, at which the given system is excited, very close so that an appropriate reference profile generated by using command shaping techniques can cover those two frequencies. Root-locus analysis, which shows traces of closed-loop poles for the given system, is used to design this PID controller. Finally, feedforward controller is added to improve tracking performance of the closed-loop system. Simulation for a system with a flexible mode and parameter uncertainties is executed to prove the feasibility of this technique.

• Keywords: Shaped Input(성형 입력),Residual Vibration(잔여 진동),Robustness(강인성),PID Controller(PID 제어기),Root-locus Analysis(근궤적 분석법)