Y. Choi, W.K.

Chung
PID Trajectory Tracking Control for Mechanical Systems
Series: Lecture Notes in Control and Information Sciences, Vol. 298

▶ Important, well structured book on PID control for mechanical

systems

Though PID control has a long history as much as its life force since Ziegler and Nichols
published the empirical tuning rules in 1942, surprisingly, it has never been changed in
the structure itself. The strength of PID control lies in the simplicity, lucid meaning, and
clear e?ect. Though it must be a widely - cepted controller for mechanical control systems,
it is still short of theoretical bases,e.g., optimality, performance tuning rules, automatic
performance t- ing method, and output feedback PID control have not been clearly
presented formechanicalcontrolsystems.Thesesubjectswillbethoroughlydiscussedin this
book. There are many books of PID controller for the purpose of process control, but it is
hard to ?nd a book on the characteristics of PID control for mechanical systems. In the ?
rst place, when nonlinear optimal control theory is applied to mechanical systems, a class
of Hamilton-Jacobi (HJ) equations is derived as a result of optimization. There are two
2004, XVI, 112 p.
methods to solve a class of HJ eq- tions: a direct method using an approximation and
inverse method ?nding the performance index from a class of HJ equations. Also, there
are two control methods according to the objective: the set-point regulation control and
Printed book
t- jectory tracking control. The trajectory tracking control is basically di?erent from set-
Softcover point regulation one in that the desired con?guration, velocity and acceleration pro?les
▶ 109,99 € | £99.99 | $139.99 according to time progress are added to the motion of mechanical system. This book is
▶ *117,69 € (D) | 120,99 € (A) | CHF 130.00 focusing on an inverse optimization method and the trajectory tracking control system.

eBook
Available from your library or
▶ springer.com/shop

MyCopy
Printed eBook for just
▶ € | $ 24.99
▶ springer.com/mycopy

Order online at springer.com ▶ or for the Americas call (toll free) 1-800-SPRINGER ▶ or email us at:
customerservice@springer.com. ▶ For outside the Americas call +49 (0) 6221-345-4301 ▶ or email us at:
customerservice@springer.com.
The first € price and the £ and $ price are net prices, subject to local VAT. Prices indicated with * include VAT for books; the €(D) includes 7% for
Germany, the €(A) includes 10% for Austria. Prices indicated with ** include VAT for electronic products; 19% for Germany, 20% for Austria. All prices
exclusive of carriage charges. Prices and other details are subject to change without notice. All errors and omissions excepted.