Choi, YJ Chung, WK 2024-01-21T08:43:00Z 2024-01-21T08:43:00Z 2021-09-03 2003-06 1561-8625 https://pubs.kist.re.kr/handle/201004/138538 This paper proposes performance tuning methods for a PID controller for a robotic manipulator. The design procedures of an inverse optimal PID control method employed to assure extended disturbance input-to-state stability (ISS) are suggested. The performance tuning methods for an inverse optimal PID control are derived from the performance limitation and the bounds of the state vector. Also, the effects of proportional and integral gains are considered in evaluating the performance tuning. Finally, we show the validity of the performance tuning methods through the experiment on a robotic manipulator. English WILEY TO-STATE STABILITY STABILIZATION PID performance tuning methods for a robotic manipulator based on ISS Article 1 ASIAN JOURNAL OF CONTROL, v.5, no.2, pp.206 - 216 ASIAN JOURNAL OF CONTROL 5 2 206 216 scie scopus 000185513600005 2-s2.0-0141894731 Automation & Control Systems Automation & Control Systems Article TO-STATE STABILITY STABILIZATION PID ISS performance tuning performance limitation coarse/fine tuning