Unformatted text preview: inner loop) such that the %overshoot ( m p ) is 5% and the rise time ( t r ) is 0.5 second. 2) Design the position control such that there is no overshoot, the settling time ( t s ) is 0.9 second and the steady-state position error ( e ss ) in response to a step is zero. + _ + _ ? ±² ( ³ ): Position controller –> outer-loop controller ? ±´ ( ³ ): Force controller -> inner-loop controller Fig. 1 Assembly robot (Courtesy of FANUC Inc. Japan)...
View Full Document
- Winter '11
- PID controller design, FANUC Inc