The robotic manipulator is considered one of the complex systems that include multi-input, multi-output, non-linearity, and highly coupled. uncertainty in parameters external disturbances have a negative influence on performance system. Therefore, controllers will be designed for these must able to deal with complexities difficulties. Proportional, Integral, Derivative (PID) controller known si...

A fractional order PID controller is designed to stabilize fractional delay systems with commensurate orders and multiple commensurate delays, where the time delays in the system may belong to several distinct intervals. Moreover, the controller parameters should belong to given intervals. In order to stabilize the system, the D-subdivision method is employed to choose the stabilizing set of th...

This paper focuses on the application of a robust Fractional Order PID (FOPID) stabilizer tuned by Genetic Algorithm (GA). The system’s robustness is assured through the application of Kharitonov’s theorem to overcome the effect of system parameter’s changes within upper and lower limits. The FOPID stabilizer has been approximatedduring the optimization using the Oustaloup’s approximation for f...