This thesis handles the PIDM ( Proportional-Integral-Derivative plus Measurement ) controller for the stabilization of a nonlinear heavy structure.
The PIDM gains are obtained using the gradient minimization method from the virtual model following performance index which gives the time domain specifications of the system.
The bandwidth and limit cycle of the system have been analyzed and a model selection method using the slew-rate is proposed. The computer simulation for the system also has been studied.