J-026

An Extended Parameter Plane Method (I-Linear Continuous Systems)

Authors: Guoguang Zhang and Junji Furusho
Affiliation: Dept of Computer-Controlled Mechanical Systems, Osaka University

Abstract
Parameter plane method, which is based on the characteristic equation, provides an analytical design for control systems with two adjustable parameters. Purpose of this paper is to extend parameter plane method to multiparameter design. The main extension is to yield additional constraint equation in terms of anticipative root value. By assigning dominant poles and applying the design technique of conventional parameter plane method, the design in multiparameter level is performed. Analysis procedure for three-parameter control systems is presented. Furthermore, two special cases in three-parameter control systems are studied. As an application of the extended method, an analysis of the dynamic behavior for industrial robots with PID controller is given.

Guoguang Zhang
Dept of Computer-Controlled Mechanical Systems
Osaka University, Japan
zhang@mech.eng.osaka-u.ac.jp