Fractional-order controller was proven to perform better than the integer-order controller. However, the absence of a pole at origin in the approximated transfer function produced marginal error in fractional-order control system. This study demonstrated the design of an error compensator that comprises of a very small zero and a pole at origin to produce a zero steady-state error for the close...

Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...

This paper deals with fractional-order controllers. We outline mathematical description of fractional controllers and methods of their synthesis and application. Synthesis method is a modified root locus method for fractional-order systems and fractionalorder controllers. In the next section we describe how to apply the fractional controller on control systems.

A weighted summation of Integral of Time Multiplied Absolute Error (ITAE) and Integral of Squared Controller Output (ISCO) minimization based time domain optimal tuning of fractional-order (FO) PID or PIλDμ controller is proposed in this paper with a Linear Quadratic Regulator (LQR) based technique that minimizes the change in trajectories of the state variables and the control signal. A class ...

31 www.erpublication.org  Abstract—In order to overcome the nonlinear characteristics of permanent magnet synchronous motor (PMSM), fractional order (FO) fuzzy proportional integral (PI) controller was designed based on the fractional order calculus and fuzzy technology for PMSM with the nonlinearity and time-varying parameters at work. Fuzzy control rules are designed in the light of running ...

this paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. the proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. as a result, the proposed controller is simple, fast response and superior to the torque c...

In process industries PID controllers are used more. In PID controller we have three parameters for tuning and tuning is done by using Ziegler-Nicholas method. In this paper we used fractional PID controller for coupled tank system and by using a tuning method for getting required response. First used zieglar-nicholas and Astrom-Hagglund method for tuning, then derived two non-linear equations ...

This paper presents a new strategy for tuning PID controllers based on a fractional reference model. The model is represented as an ideal closed-loop system whose open-loop is given by the Bode’s ideal transfer function. The PID controller parameters are determined by the minimization of the integral square error (ISE) between the time responses of the desired fractional reference model and of ...