### Abstract

A PD position control of a one degree of freedom system is investigated for the case when the gain parameters are varying periodically. Due to the sampling effect of the control process, the mathematical model is a time periodic delay-differential equation. The investigation of this equation shows that the stability properties and the settling time of the control process can be improved by proper gain variation. A wide range of stability charts are determined for constant and periodically varying control gains and the improvements in stability are shown. The settling time is also investigated, and the gains resulting the fastest signal decay are also determined.

Original language | English |
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Title of host publication | Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science |

Editors | T. Huang |

Pages | 1816-1820 |

Number of pages | 5 |

Publication status | Published - 2004 |

Event | Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science - Tianjin, China Duration: Apr 1 2004 → Apr 4 2004 |

### Other

Other | Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science |
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Country | China |

City | Tianjin |

Period | 4/1/04 → 4/4/04 |

### Fingerprint

### Keywords

- Periodic gains
- Sampling effect
- Stability

### ASJC Scopus subject areas

- Engineering(all)

### Cite this

*Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science*(pp. 1816-1820)

**Stability improvements of robot control by periodic variation of the gain parameters.** / Insperger, T.; Stépán, G.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

*Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science.*pp. 1816-1820, Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science, Tianjin, China, 4/1/04.

}

TY - GEN

T1 - Stability improvements of robot control by periodic variation of the gain parameters

AU - Insperger, T.

AU - Stépán, G.

PY - 2004

Y1 - 2004

N2 - A PD position control of a one degree of freedom system is investigated for the case when the gain parameters are varying periodically. Due to the sampling effect of the control process, the mathematical model is a time periodic delay-differential equation. The investigation of this equation shows that the stability properties and the settling time of the control process can be improved by proper gain variation. A wide range of stability charts are determined for constant and periodically varying control gains and the improvements in stability are shown. The settling time is also investigated, and the gains resulting the fastest signal decay are also determined.

AB - A PD position control of a one degree of freedom system is investigated for the case when the gain parameters are varying periodically. Due to the sampling effect of the control process, the mathematical model is a time periodic delay-differential equation. The investigation of this equation shows that the stability properties and the settling time of the control process can be improved by proper gain variation. A wide range of stability charts are determined for constant and periodically varying control gains and the improvements in stability are shown. The settling time is also investigated, and the gains resulting the fastest signal decay are also determined.

KW - Periodic gains

KW - Sampling effect

KW - Stability

UR - http://www.scopus.com/inward/record.url?scp=4344596755&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=4344596755&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:4344596755

SN - 7111140737

SP - 1816

EP - 1820

BT - Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science

A2 - Huang, T.

ER -