Tuning of PID Controllers Applied to Servo Systems: A Disturbance Observer Approach

Tuesday, November 30, 2021
11 AM EST (UTC/GMT-5)

This talk presents a tuning method for PID controllers based on their equivalence with a PD control law based on Ohnishi’s Disturbance Observer (DOb), which is designed for servo system. The equivalence produces simple tuning formulae for the PID controller as a function of the cut-off frequency of the filter employed in the DOb. Real-time experiments on a Quanser Rotary Servo Base unit powered by a VoltPAQ-X1 amplifier allow assessing the performance of the proposed approach.

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Presenter Bio:

Prof. Ruben Garrido received his B.Eng. degree in Electrical Engineering from ESIME-IPN, México, in 1983, an M.Sc. in Electrical Engineering from CINVESTAV, México in 1987 and his Ph.D. from Université de Technology de Compiègne, France, in 1993. He is currently a Professor at the Department of Automatic Control, CINVESTAV, Mexico. His research interests include servo control, robot manipulator control, adaptive control and identification, educational aspects in automatic control, solar tracking systems for high concentration photovoltaics, neural network control, controller tuning using metaheuristics.