This article focuses on designing an adaptive sliding mode controller via state and output feedback for nonlinear singular fractional-order systems (SFOSs) with mismatched uncertainties. Firstly, the basis of extending dimension SFOS, a new integral surface is constructed. Through this special surface, descriptor system does not contain matrix E. Then, sufficient conditions that ensure stabilit...

The design of advanced robust control is crucial for serial robotic manipulators under various uncertainties and disturbances in case the forceful performance needs industrial applications. Therefore, this work has proposed implementation a fractional order proportional tilt integral derivative (FOPTID) controller joint space 3-DOF manipulator. been designed based on calculus concept to fulfill...

Robust stability is a major concern for real-world control applications. Realization of optimal robust requires stabilization scheme, which ensures that the system stable and presents performance predefined range perturbations. This study presented an approach closed-loop fractional order proportional integral derivative (FOPID) systems with interval parametric uncertainty uncertain time delay....

In this work, a class of fractional order controller (FOPID) is tuned based on internal model control (IMC). This tuning rule has been obtained without any approximation of time delay. Moreover to show usefulness of fractional order controller in comparison with classical integer order controllers, an industrial PID controller tuned in a similar way, is compared with FOPID and then robust stabi...

In this paper, we discuss in time domain the convergence of the iterative process for fractional-order systems. Fractional order iterative learning updating schemes are considered. The convergent conditions of the fractional-order and integer-order iterative learning schemes are proved to be equivalent. It is shown in Matlab/Simulink results that the tracking speed is the fastest when the syste...