Fractional—PD controllers design for LTI-systems with time-delay. A geometric approach

Adrian Josue Guel Cortez, Cesar-Fernando Mendez-Barrios, V Ramirez, J.G Romero, Emilio Jorge González-Galván, J Kado-Mercado

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

1 Citation (Scopus)

Abstract

In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.
Original languageEnglish
Title of host publication 5th International Conference on Control, Decision and Information Technologies (CoDIT)
PublisherIEEE
ISBN (Electronic)978-1-5386-5065-3
ISBN (Print)978-1-5386-5066-0
DOIs
Publication statusPublished - 25 Jun 2018
Externally publishedYes
Event 5th International Conference on Control, Decision and Information Technologies - Thessaloniki, Greece
Duration: 10 Apr 201813 Apr 2018
http://codit2018.com/

Conference

Conference 5th International Conference on Control, Decision and Information Technologies
Abbreviated titleCoDIT 18
CountryGreece
CityThessaloniki
Period10/04/1813/04/18
Internet address

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