Abstract
In this paper, we propose a new ∈-PID controller for DC motors. We provide a systematic design steps of selecting the gains of the proposed ∈-PID controller. We also analytically show that the proposed controller provides robustness against system parameter uncertainty and reduces the effect of unknown load torque to the order of ∈. The benefit of our control approach is that the PID gains are tuned conveniently by adjusting a single ∈ gain-factor. An experiment of DC motor control with its application to humanoid robot arms demonstrates the practical aspect of the proposed control method.
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