Choi Y., Chung W.K. PID Trajectory Tracking Control for Mechanical Systems

Springer, 2004. — xvi, 112 p. — (Lecture Notes in Control and Information Sciences, 298). — 978-3-540-40041-7.Though PID control has a long history as much as its life force since Ziegler and Nichols published the empirical tuning rules in 1942, surprisingly, it has never been changed in the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and clear effect. Though it must be a widely accepted controller for mechanical control systems, it is still short of theoretical bases, e.g., optimality, performance tuning rules, automatic performance tuning method, and output feedback PID control have not been clearly presented for mechanical control systems. These subjects will be thoroughly discussed in this book. There are many books of PID controller for the purpose of process control, but it is hard to find a book on the characteristics of PID control for mechanical systems.Preliminaries.Robust and Optimal Control for Mechanical Systems.
Full State Feedback PID Control.
H-infinity Optimality of PID Control.
Performance Limitation and Tuning.
Automatic Performance Tuning.
Output Feedback PID Control.
Output Feedback PID Control.
Concluding Remarks.