In this paper, fractional order internal model control technique is formulated for non-ideal dc–dc buck and boost converter. The fractional order internal model control approach integrates the concept of Commande Robuste d’Ordre Non Entier principle for tuning a fractional order filter with internal model control scheme. The final controller can be expressed as a series combination of proportional integral derivative controller and a fractional order low pass filter. To assess the robustness of the proposed fractional order internal model control scheme, both the servo response and regulatory response of the dc–dc converters are investigated in the presence of disturbances. The efficacy of fractional order internal model control technique is demonstrated via comparison with 2 degrees of freedom internal model control scheme. Furthermore, an experimental validation of fractional order internal model control is conducted on laboratory setup, and a dSPACE 1104 microcontroller is used for hardware implementation. The simulation results and the hardware validation are a testimony to the effectiveness of fractional order internal model control technique.
Adaptive Internal Model Control scheme for a Pneumatic Artificial Muscle
