2018年运动控制技巧的前5条文章

4) What is state space control?

If you design, install, or troubleshoot motion control systems, you’re probably familiar with PID (proportional-integral-derivative) control, which uses feedback to detect errors between the desired position and the actual position and applies corrective commands to compensate for those errors.

尽管PID控制中最常见的一种dustrial controller, it does have limitations. First, PID control is generally not suitable for systems with multiple inputs and multiple outputs (MIMO), as the transfer functions and differential equations used to represent the system become overly complex when more then one input (or output) is involved. Second, PID control is based on constant parameters, so its effectiveness in controlling non-linear systems is limited. An alternative control method is state space control.

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