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.
|Title of host publication||5th International Conference on Control, Decision and Information Technologies (CoDIT)|
|Publication status||Published - 25 Jun 2018|
|Event|| 5th International Conference on Control, Decision and Information Technologies - Thessaloniki, Greece|
Duration: 10 Apr 2018 → 13 Apr 2018
|Conference||5th International Conference on Control, Decision and Information Technologies|
|Abbreviated title||CoDIT 18|
|Period||10/04/18 → 13/04/18|