A new hybrid PID-Immersion invariance stabilization control scheme for the RTAC benchmark control system

Abstract

This paper presents results into a new regulation scheme using a PID and immersion invariance controller for robust stabilization and tracking in rotational-translational actuator (RTAC) system. The stabilization and tracking control of the RTAC system is first demonstrated by application of the immersion invariance control law acting alone before the utilization of the designed control law for robustification of an existing PID controller for the RTAC system. In the nonrobust PID stabilization experiment, settling times of about 15 s was recorded while the robust stabilization experiments with the immersion invariance controller in the loop had 10 s settling time. For the nonrobust PID tracking experiment a noticeable overshoot was recorded of about 36.27% and settling times of about 18 s. Robust tracking experiments with the immersion invariance controller in the loop saw zero overshoot and 8 s settling time.