Abstract
This paper suggests an inverse optimal PID control design method for mechanical manipulators. We find the Lyapunov function and the control law satisfying the disturbance input-to-state stability by using the characteristics of Lagrange system. Also, we show that the inverse optimal PID controller satisfies the Hamilton-Jacobi-lsaacs equation. Hence, the inverse optimality of the closed-loop system dynamics was acquired through the PID controller, if some conditions for the control law are satisfied. Also, simple coarse/fine performance tuning laws are suggested based on the analysis for performance limitation of the inverse optimal PID controller.
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