PI controller design for one joint robotic arm

Abstract

In this paper, PI tuning rules have been developed for the stabilization of one joint robotic arm. Further, PI tuning rules have been developed for desired gain margin and phase margin. The proposed approach is based on stability boundary locus. The tuning rules have been verified through MATLAB software. Finally, the proposed tuning rules have been tested on a Precision modular Servo (PMS) system in which an arm is connected to DC servo motor.