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• W2321996586 abstract "This paper presents a simple robust PID tuning method for force control of ionic polymer actuators. The model is represented by a linear-time invariant system which consists of electrical and electro-mechanical models. The uncertainty is represented by an interval polynomial set of the closed-loop characteristic equation. Using Kharitonov's theorem, we show that just one Kharitonov polynomial stability critevion is necessary and sufficient for satisfying the robust stability of the system. The PID gain is determined by pole placement based on the derived Kharitonov polynomial. Experimental results show the effectiveness of the PID force control by the proposed method." @default.
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• W2321996586 date "2012-01-01" @default.
• W2321996586 modified "2023-09-25" @default.
• W2321996586 title "Robust PID Force Control of Ionic Polymer Actuators" @default.
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• W2321996586 doi "https://doi.org/10.1299/kikaic.78.82" @default.
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