A Proportional-Integral-Derivative (PID) configuration for speed and position control, of which the gains influence input/output and sensitivity properties with a higher degree of decoupling than in current PIDs, is presented. Performing the same global function as its classical counterpart, this novel configuration offers, in addition, a better understanding, an easier implementation, and a promising extension of the available tuning procedures. The presentation unfolds through a combination of theoretical analysis, practical considerations and test-bench results.
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Romano M. De Santis (1994) studied this question.
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