State-Dependent Parameter PID+ Control Applied to a Nonlinear Manipulator Arm

DOI10.1007/978-3-030-39847-7_1zbMath1493.70045OpenAlexW3047142930MaRDI QIDQ5141339

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Publication date: 18 December 2020

Published in: Recent Advances in Engineering Mathematics and Physics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-030-39847-7_1

zbMATH Keywords

discrete-time nonlinear systemdiscrete PID+ controllinear quadratic (LQ) optimizationnon-minimal state space (NMSS) formSDP pole placementstate-dependent parameter (SDP) model

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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Robust sampled‐data PID controller design for regulation control of nonlinear systems with output delay

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