Design and Performance Analysis of Digital Controllers in Discrete and Continuous Time Domains for a Robot Control System
This paper presents design approach and performance analysis of different types of digital compensators for arobot arm joint control system which involves a sensor feedback. The design procedure incorporates discrete (z-plane) and continuous time (warped s-plane or w-plane) domain parameters. The design techniques of frequency response characteristics have been investigated and four basic types of controllers-phase-lag, phase-lead, proportional-integral (PI) and proportional-integral derivative (PID) have been designed and simulated on MATLAB. All the controllers have been implemented to achieve a phase margin of 40 deg. and open loop bode plots and closed loop step responses have been evaluated. Comparison among the controllers on the basis of step response characteristics has beenp resented in this paper.
