Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
PID controller is well used for mechatronics control and robot control in industrial use, because of its usability and high performance. There may be several ways to transform a continuous PID controller to a digital PID controller, i.e. Tustin transform and backward difference. However, it is difficult to compare controllers with different structure, because both controllers can achieve any performance in ideal theoretical situation. In practical situation, there may be some limitation of performance in practical situation, which comes from the calculation delay in digital systems. The Limited Pole Placement (LPP) method, which is proposed by the author, can place “assigned poles” accurately even they have delay, and can show the performance limit of the digital systems with positions of “determined poles”. Tustin transform and backward difference are compared using LPP method.
