Choi, YJ Chung, WK 2024-01-21T05:01:48Z 2024-01-21T05:01:48Z 2021-09-03 2005-06 0022-0434 https://pubs.kist.re.kr/handle/201004/136432 The PID trajectory tracking controller for Lagrangian systems shows performance limitation imposed by inverse dynamics according to desired trajectory Since the equilibrium point cannot be defined for the control system involving performance limitation, we define newly the quasiequilibrium region as an alternative for equilibrium point. This analysis result of performance limitation can guide us the autotuning method for PID controller The quasiequilibrium region is used as the target performance of autotuning PID trajectory tracking controller The autotuning law is derived from the direct adaptive control scheme, based on the extended disturbance input-to-state stability and the characteristics of performance limitation. Finally, experimental results show that the target performance can be achieved by the proposed automatic tuning method. English ASME DIRECT ADAPTIVE-CONTROL NONLINEAR UNCERTAIN SYSTEMS TO-STATE STABILITY Performance limitation and autotuning of inverse optimal PID controller for lagrangian systems Article 10.1115/1.1898236 1 JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, v.127, no.2, pp.240 - 249 JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME 127 2 240 249 scie scopus 000230153600007 2-s2.0-21244468769 Automation & Control Systems Instruments & Instrumentation Automation & Control Systems Instruments & Instrumentation Article DIRECT ADAPTIVE-CONTROL NONLINEAR UNCERTAIN SYSTEMS TO-STATE STABILITY Control Robot Auto-tuning