Abstract
In this chapter, a digital controller is tuned for the control benchmark proposed in 2008 by the ABB group at the 17th IFAC World Congress via multiobjective optimization. In some instances, a more realistic evaluation of a controller performance is sought, that is, the expected performance of the controller when it will be implemented. For this benchmark, a digital controller with limited control actions is adjusted in order to control the end effector of a robotic arm.
Cite
CITATION STYLE
Reynoso Meza, G., Blasco Ferragud, X., Sanchis Saez, J., & Herrero Durá, J. M. (2017). The ABB’2008 control benchmark: A flexible manipulator. In Intelligent Systems, Control and Automation: Science and Engineering (Vol. 85, pp. 159–172). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-41301-3_8
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