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Volume 6 Issue 5
Sep.  2019

IEEE/CAA Journal of Automatica Sinica

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Vahid Badri and Mohammad Saleh Tavazoei, "On Time-Constant Robust Tuning of Fractional Order [Proportional Derivative] Controllers," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1179-1186, Sept. 2019. doi: 10.1109/JAS.2017.7510667
Citation: Vahid Badri and Mohammad Saleh Tavazoei, "On Time-Constant Robust Tuning of Fractional Order [Proportional Derivative] Controllers," IEEE/CAA J. Autom. Sinica, vol. 6, no. 5, pp. 1179-1186, Sept. 2019. doi: 10.1109/JAS.2017.7510667

On Time-Constant Robust Tuning of Fractional Order [Proportional Derivative] Controllers

doi: 10.1109/JAS.2017.7510667
Funds:  This work was supported by the Iran National Science Foundation (INSF)
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  • This paper deals with analyzing a newly introduced method for tuning of fractional order [proportional derivative] (FO[PD]) controllers to be used in motion control. By using this tuning method, not only the phase margin and gain crossover frequency are adjustable, but also robustness to variations in the plant time-constant is guaranteed. Conditions on the values of control specifications (desired phase margin and gain crossover frequency) for solution existence in this tuning method are found. Also, the number of solutions is analytically determined in this study. Moreover, experimental verifications are presented to indicate the applicability of the obtained results.

     

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    Highlights

    • Solution existence of a recently proposed tuning method of fractional order [proportional derivative](FO[PD]) controllers is investigated.
    • The number of the solutions of the tuning method is analytically found.
    • It is shown that the tuning method can result in two distinct feasible solutions.
    • The obtained results are applied in motion control.

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