%0 Journal Article
%T Fast and nonovershooting control for a double-integral system with step input: nonlinear PD control based on gain-switching<br>双积分系统阶跃响应快速无超调控制: 一种增益切换非线性PD控制
%A ZHU Bo
%A WANG Xin-hua
%A CAI Kai-yuan
%A <br>朱波
%A 王新华
%A 蔡开元
%J 控制理论与应用
%D 2009
%I 
%X If a standard PD or a PID controller is used to stabilize a double-integral system with step input, a nonovershooting step-response can't be obtained. A novel nonlinear PD controller with gain-switching is presented to deal with this problem. The necessary and sufficient condition of the nonovershooting step-response and the methods to reduce the settling time are given. The designed switching action obeys the following rule: when the amplitude of the tracking error is larger than a threshold value, a fast PD controller is employed to accelerate the convergence of the tracking error; otherwise, a strong-damping PD controller is adopted to restrain the overshoot. The cooperation of the two PD controllers reduces the settling time while rendering a nonovershooting step-response. These theoretical results are confirmed by computer simulations.
%K double-integral model
%K step response
%K fast and nonovershooting control
%K nonlinear PD control<br>双积分模型
%K 阶跃响应
%K 快速无超调控制
%K 非线性PD控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=BC0A0330320E2647AF716D9F25C9A167&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=F3090AE9B60B7ED1&sid=A6B1729CC57A879A&eid=87EA718095CEFCE5&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=13