In the paper is presented review of some approaches corelated with subject of using fractional derivatives in control system theory. Popular algorithms used in the industry are presented, along with relating designing methodology. Using of fractional derivatives calculations is relatively new concept, but constantly getting increasing interest. Deliberation in recent years indicate that many scientific problems like thermodynamic or biology problems can be well considered and modeled by fractional order derivatives. On the market there is available tools that support a processes of identification and regulators designing, based on experimental data. One of such tools are toolbox CRONE for MATLAB, which contains three modules: mathematical, identifying, system control designing. That toolbox allows implementation of CRONE regulators with different level of complexity. Other tool is FOMCON, which also is a toolbox for MATLAB and it is based on already existed toolbox FOTF. FOMCON allows to identifying of control system and PIλDµ regulator designing. This article is aiming to present current state of art, discussion about existing tools and concepts correlated with fractional order derivatives and their usage in control system theory, like: gamma function, definition of fractional derivative, Laplace transform and basics of control system theory.
Modelowanie układów sterowania z użyciem pochodnych ułamkowych
