On the Stability properties of P(I)D-controlled motion systems

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    2 Citations (Scopus)

    Abstract

    For motion controller design, the reduced plant model is used in which high frequency dynamics are neglected. However, the maximum achievable closed-loop bandwidth is limited by the very same dynamics. The extent of their influence depends of the character of the high frequency modes. Another aspect that has an impact on the stability of the closed-loop system, is the damping present in the plant. The influence of the type of high frequency dynamics, the damping thereof, and the P(I)D controller bandwidth on the closed-loop stability is addressed in this paper. The results provide the reader with design rules of thumbs concerning the maximum achievable cross-over frequency.
    Original languageUndefined
    Title of host publication5th IFAC Symposium on Mechatronic Systems
    Place of PublicationUSA
    PublisherIFAC
    Pages473-477
    Number of pages5
    ISBN (Print)978-3-902661-76-0
    DOIs
    Publication statusPublished - 13 Sep 2010
    Event5th IFAC Symposium on Mechatronic Systems, IFACMech 2010 - Cambridge, United States
    Duration: 13 Sep 201015 Sep 2010
    Conference number: 5
    https://engineering.purdue.edu/IFACMech10/

    Publication series

    Name
    PublisherIFAC

    Conference

    Conference5th IFAC Symposium on Mechatronic Systems, IFACMech 2010
    Abbreviated titleIFACMech
    CountryUnited States
    CityCambridge
    Period13/09/1015/09/10
    Internet address

    Keywords

    • METIS-276149
    • Motion Control
    • Damping
    • Crossover frequency
    • EWI-18823
    • Bandwidth
    • PID control
    • Stability
    • Root locus
    • IR-75222

    Cite this

    Babakhani, B., & de Vries, T. J. A. (2010). On the Stability properties of P(I)D-controlled motion systems. In 5th IFAC Symposium on Mechatronic Systems (pp. 473-477). USA: IFAC. https://doi.org/10.3182/20100913-3-US-2015.00044