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PROPORTIONAL DERIVATIVE & INTEGRAL CONTROL: |
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 Robot &
actuator
dynamics Eqn. |
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To overcome deficiencies of PD controller, integral action is introduced |
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Control Strategy is  |
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Controller transfer function 
|
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Closed loop system is now of third
Order
 |
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Where
 |
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Steady state error will be eliminated
by use of integral control alongwith PD control. |
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BLOCK DIAGRAM: |
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Figure 33.8 Closed loop system with PID control
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