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Stability Analysis Of Digital Pd Control Applied To Flexible Systems
(
Qatar University
, 2002 , Article)
The work shows that the sampling in a digital PD controller of a flexible system may cause instability, while the continuous PD control system is stable. A procedure is introduced to define the stability regions analytically ...
Time-Optimal Control Of High-Speed Flexible-Robot Arm Using PD Algorithms
(
Qatar University
, 2000 , Article)
This paper addresses utilization of proportional-plus derivative (PD) control algorithms for time-optimal control of flexible-robots. Flexibility is modeled using one mode of vibration with negligible structural damping. ...