Design of PI controller for position control system using Kronecker summation approach: Experimental validation

Abstract

The aim of this paper is to tune a PI controller for a servo system using a combination of Kronecker summation method and the Trial and Error method. The Kronecker method is used for calculation of the various stabilizing PI controllers and the Trial and Error method is used for finding the specific values of K p and Ki. The model of the servo system taken into consideration has been found by using the bump test method. Further, Kp and Ki values have been found and then they have been experimentally tested on a Servo motor. It has been found that the method of finding the stabilizing values of the PI controller narrows down the region for the iterative search of the Kp and Ki values.