Fractional-PD controllers design for LTI-systems with time-delay. A geometric approach

In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but...

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Bibliographic Details
Published in2018 5th International Conference on Control, Decision and Information Technologies (CoDIT) pp. 446 - 451
Main Authors Guel-Cortez, A.-J, Mendez-Barrios, C.-F, Ramirez, V., Romero, J. G., Gonzalez-Galvan, E., Kado-Mercado, J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.04.2018
Subjects
Closed loop systems
Guidelines
Information technology
PD control
Stability analysis
Transfer functions
Tuning
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Summary:In this paper we present a simple procedure to design fractional-PD μ controllers for Single-Input-Single-Output-Linear Time Invariant (SISO-LTI) systems with constant time-delay. More precisely, based on a geometric approach, we present a methodology not only to design a stabilizing controller, but also to provide practical guidelines to design non-fragile PD μ controllers. Finally, in order to illustrate the simplicity of the proposed approach as well as the efficiency of the PD μ controller in a realistic scenario, we consider an experimental setup consisting of controlling a teleoperated system using two Phantom Omni haptic devices.
ISSN:2576-3555
DOI:10.1109/CoDIT.2018.8394881