This paper deals with the analysis of electrical circuits classical one-port elements including two novel defined fractional order elements: fractional-order resistive-capacitive RC-α and inductive RL-α element. The definitions analytical relations between current, voltage power introduced are provided. An example element realization via ladder circuit composed resistors, capacitors and/or inductors is presented. Several examples analyzed to illustrate behavior for different values α...

Abstract In this paper, the stability problem of Furuta pendulum controlled by fractional order PD controller is presented. A mathematical model rotational inverted derived and introduced in to stabilize same. The asymptotic a closed loop system solved using D-decomposition approach. On basis method, analytical forms expressing boundaries regions parameters space have been determined. method investigated for linear systems case parameter dependence. addition, some results nonlinear...

(2021). A new optimisation method of PIDC controller under constraints on robustness and sensitivity to measurement noise using amplitude optimum principle. International Journal Control. Ahead Print.

This paper presents simple, flexible and effective approximation method for fractional order lead-lag compensators. The proposed relies on a Padé of linear transfer functions, giving rational approximations N accurate enough control applications as soon is greater than 2 or 3. An example feedback loop incorporating this adopted from the well-known car suspension problem, wherein an iso-damping property closed response achieved, with regard to variation vehicle mass.

This paper will provide some an applications of memristors and mem-systems with a particular focus on electromechanical systems analogies that holds great promise for advanced modeling control complex objects processes. Also, we present the connection between fractional order differ integral operators behavior mem-systems. Finally, several potential integer are discussed.

In this paper a closed-loop PD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">α</sup> - type iterative learning control (ILC) of fractional order singular time-delay system is considered. particular, we discuss linear timed-delay systems in state space form. The sufficient conditions for the convergence time domain proposed PD-alpha ILC class are given by corresponding theorem together with its proof. Finally, validity scheme verified numerical example.

This paper deals with stability problem of inverted pendulum controlled by a fractional order PD controller. D-decomposition method for determining region in controller parameters space is hereby presented. The linear systems extended and the case nonlinear dependence. Some comparisons integer PID controllers are given based on simulation results.

A feedback-feedforward PDalpha type iterative learning control (ILC) of fractional order uncertain time delay system is considered. Particularly, we discuss systems in state space form with bounded constant delay. Sufficient conditions for the convergence a proposed algorithm class are given domain. Finally, simulation example shows feasibility and effectiveness approach.

In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot an underactuated mechanical system, i.e. it has only one control input and two degrees freedom. Detailed mathematical model derived using the Rodriguez method then order lead introduced in to stabilize around unstable upright position. D-decomposition used solve asymptotic closed loop system. Stability regions parameters space are calculated technique,...

In this paper, a new open-closed-loop PIDD2/PID type iterative learning control is studied for joint space trajectory tracking of time-varying robotic manipulator. We propose intelligent system which consists computed torque controller linearizing robot dynamics. Then open-closed ILC applied to the linearized further enhance performance repetitive tasks and deal with model uncertainties. It theoretically proven that boundednesses error are guaranteed in presence uncertainty. Finally,...

In this paper a closed-loop PDα - type iterative learning control (ILC) of fractional order linear singular time-delay system is considered. The sufficient conditions for the convergence in time domain proposed PD-alpha ILC class are given by corresponding theorem together with its proof. Also, first time, we uncertain, order, systems. Finally, validity scheme verified numerical example.

Iterative learning control (ILC) is one of the recent topics in theories and it suitable for controlling a wider class mechatronic systems - especially motion robotic systems. This paper addresses problem application fractional order ILC singular system. Particularly, we study pseudo-state space. An closed-loop PDalpha type fractional-order system investigated. Also, open-closed loop P-PDa considered. Sufficient conditions convergence time domain proposed schemes are given by corresponding...

This paper presents a novel approach to designing resonant controllers in the digital domain under robustness constraints. The basic principle for controller design is adequate suppression of disturbances at process input while preserving closed-loop system. Since, disturbance an oscillatory, proposed methodology results same frequencies as oscillatory disturbance. Resonant find widespread application various industries, including distributed power generation systems, modern voltage source...

Recently, calculus of general order [Formula: see text] has attracted attention in scientific literature, where fractional operators are often used for control issues and the modeling dynamics complex systems. In this work, some will be devoted to problem viscous friction robotic joints. The variations utilized which is extended derivative angular displacement. addition, solve output tracking a manipulator with three DOFs revolute joints presence model uncertainties, robust advanced...

In this paper, we suggest a robust non-square MIMO (4×8) PID controller for the multi-mode active vibration damping of nanobeam. Nanobeam is modeled by using nonlocal continuum theory Eringen to consider small-scale effects and Euler-Bernoulli beam theory. The problem analyzed free case with Heaviside type disturbance nanobeam without controller. proposed system has four inputs eight outputs, where static decoupling method, decoupled transfer functions obtained. parameters dependig on one...

In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New consists Nano Pi which is used as a PC standard PLC (programmable logic controller's) unit and replace old system that 16-bit ATmega processors. The goal based on Linux operating (Debian distribution) patched by Xenomai real time reducing response better entire control. Robotic powered DC motors are controlled two PWM4...

Motion control of robotic manipulators is frequently realized by independent the DC motors actuating robot joints. Namely, nonlinearities, coupling between actuators and other complex dynamics are neglected if high gear ratios joints considered. This paper proposes a fractional-order lag network or PI controller to position shafts. The introduced fractional compensators designed using symmetrical optimum principle parameters optimization frequency-domain loop shaping, respectively....