Abstract
This article presents a simple procedure that allows a practical design of fractional –PD μ controllers for single-input single-output linear time-invariant fractional-order systems subject to a constant time delay. The methodology is based on a geometric approach, which provides practical guidelines to design stabilizing and non-fragile PD μ controllers. The simplicity of the proposed approach is illustrated by considering several numerical examples encountered in the control literature. Moreover, with the aim of showing the performance of the PD μ over a classical PD controller, both controllers were implemented at the end of the article in an experimental test-bench consisting a teleoperated robotic system.
Original language | English |
---|---|
Pages (from-to) | 815-829 |
Number of pages | 15 |
Journal | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering |
Volume | 233 |
Issue number | 7 |
Early online date | 22 Jan 2019 |
DOIs | |
Publication status | Published - 1 Aug 2019 |
Externally published | Yes |
Keywords
- Fractional-order systems
- fractional PD controllers
- stability
ASJC Scopus subject areas
- Control and Systems Engineering
- Mechanical Engineering