Stable PID Control and Systematic Tuning of PID Gains
Abstract
Although great progress has been made in a century-long effort to design and implement robotic exoskeletons, many design challenges continue to limit the performance of the system. One of the limiting factors is the lack of simple and effective control systems for the exoskeleton [56,137]. The position error caused by gravitational torques can be reduced by introducing an integral component to the PD control. In order to assure asymptotic stability, several components were previously added to the classic linear PID controllers, for example, fourth-order filter [101], nonlinear derivative term [4], nonlinear integral term (saturated function) [71], input saturation, ...
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