Position control of a single-link robot-arm using a multi-loop PI controller

Abstract

In this paper, a newly developed method for assigning dominant poles with a multi-loop PI controller is applied to the control of a single-link robot arm. It is shown in particular that it is possible to place 2 poles of the close loop system arbitrarily and guarantee that the remaining pole is not affecting the performance of the system. The freedom in design is also used to restrict the control signal up to a certain level, to reject disturbances and to increase robustness for parametric uncertainties.