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The aggressiveness of a PI controller is defined and a quantitative characterization is given in relation to the ratio of the proportional and integral actions of the controller. This concept provides simple analytic design relations for tuning PI controllers. It is illustrated by simulation results obtained with a test batch of processes representative of(More)
The need of accuracy in the knowledge of the values of inertial parameters of a robot for implementing a computed torque control method is appraised through a simulation analysis which investigates the influence of different inertial parameters on the positional accuracy. Various simulation runs have been performed on the model of a PUMA 562 manipulator(More)