High Order Feedback Design to Improve Robot Performance
IFAC Proceedings Volumes
In comparison to PI and PID controllers, a higher order “advanced” controller is shown to improve the performance of an experimental robot for speed and position control applications. The advanced controller attains a higher bandwidth, lower settling time and better disturbance rejection, while the increased performance costs little in sensor noise amplification.
Yaniv, O.; Nagurka, Mark L.; Safonov, S.; and Flash, Tamar, "High Order Feedback Design to Improve Robot Performance" (2002). Mechanical Engineering Faculty Research and Publications. 226.