SIMULATION AND CONTROL STUDY OF A SINGLE JOINT SYSTEM USING PROPORTIONAL INTEGRAL DERIVATIVE (PID) CONTROLLER

The purpose of this article is to obtain a mathematical model of a single joint system mostly found in Humanoid Robots and actuated mostlyby DC Motors as found in industrial designs. A Proportional Integral Derivative controller is then designed by conventionally placingpoles to get better performance of the closed loop system. The action of the PID is simulated with the open loop unstable system which ensured the set-point tracking of the closed loop system and also maintained the stability of the closed loop system as both the transient and the steady state of the system is greatly improved. The results gotten are analysed both in the time and frequency domain which showed that the controller discarded steady state offset, damped oscillations and reduced overshoot while system stability was guaranteed. In the time domain, a set-point of angular position of 1 radian was tracked at the output, with a time constant of 0.17s and peak overshoot of 7%, while in the frequency domain analysis, an infinite gain margin was obtained with a phase margin of 173.8490oboth estimatedfrom Bode and Nyquist plots respectively