Hello to everybody.
My questions are:
1- Is it posible to implement other types of controllers instead of PID?
If so, have some of you already done something regarding this?
I'm thinking on designing a compesator with QFT Robust Control, but the
problem is that the only compensator structure I find is PID, neither PI-D.
If it's not posible to do it now and some of you is interested in
developing this in EMC contact me.
We have build a Hexalgide. www.imac.unavarra.es/~cnc. This is a MIMO
problem. 6 axis - 6 d.o.f. with non-trivial kinematics.
By the moment we are doing independent joint controll so the main idea
is to develop a good compensator for :
First - reject disturbance in the joint from other part of the
manipulator
Second - avoid excitation of backlash non-linearities and
vibrational modes
2- If it's not posible by the moment, how could we tune the PID
parameters so to have:
1) peak response equal to zero
2) and the frencuency reponse of the output of the compensator
U(s) limited to a specific band
Thank very much for reading this mail. New ideas and help are welcome.
Jasiel Nájera.
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