Asymptotic Stability Method for PID Controller Tuning in a Backhoe Machine

Carlos Mastalli, Dimitar Ralev, Novel Certad, Gerardo Fernandez-Lopez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract / Description of output

This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of origin of the closed-loop equation of PID controller. Besides the tuning procedure requires the knowledge of certain properties of dynamic model, which are dependent on the desired trajectory. Finally it is demonstrated that this tuning procedure proves to be effective, and also robust in the execution of other tasks performed by the backhoe machine.
Original languageEnglish
Title of host publicationASME 2013 Dynamic Systems and Control Conference
PublisherAmerican Society of Mechanical Engineers(ASME)
Number of pages8
ISBN (Electronic)978-0-7918-5614-7
Publication statusPublished - 1 Oct 2013
Event2013 ASME Dynamic Systems and Control Conference - Stanford University, Palo Alto, United States
Duration: 21 Oct 201323 Oct 2013


Conference2013 ASME Dynamic Systems and Control Conference
Abbreviated titleASME DSC 2013
Country/TerritoryUnited States
CityPalo Alto
Internet address


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