Experiments on IMC-Based PID Controller Design for a Two-link SCARA Robot

摘要

In this paper, Internal Model Control (IMC) technique is applied to design a PID controller for a two-link SCARA robot, of which the model contains an integral term. In IMC controller design, a filter structure must be selected suitably because it directly affects the performance of the system. In order to derive the PID controller, the IMC controller using a proposed low-pass filter is approximated by Maclaurin series expansion. With the proposed low-pass filter, the angular positions of the two-link SCARA robot can track the reference input and the effect of step type input disturbance can be rejected. The effectiveness of the IMC-based PID controller is verified by both simulations and experiments.