Publication: A graphical tuning method for fractional order controllers based on iso-slope phase curves
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2020-10
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Elsevier
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Abstract
Fractional order controllers are widely used in the robust control field. As a generalization of the ubiquitous PID controllers, fractional order controllers are able to reach design specifications their integer counterparts cannot, and as a result they outperform them at particular situations. Their main drawback is that generalization of the design tools is not always evident, and therefore tuning this kind of controller is always a new and different challenge. Existing methods often use numerical computation to find the controller parameters that fit the specifications. This paper describes a graphical solution for fractional order controllers, which avoids the solution by nonlinear equations and helps designer to solve the control problem in a very intuitive way. This approach is tested in the servomotors of a real bio-inspired soft neck and results are compared with those obtained from other control strategies. The experiments show that the controller tuned by this method works as expected from a robust controller and that this approach is very competitive compared to other state of the art methods, while offering a more simplified and direct tuning process.
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Fractional order controller, Tuning methods, Robust control, Soft robotics
Bibliographic citation
Muñoz, J., Monje, C. A., Nagua, L. F. & Balaguer, C. (2020). A graphical tuning method for fractional order controllers based on iso-slope phase curves. ISA Transactions, 105, 296–307.