Abstract
A new perfect control algorithm dedicated to fractional-order right-invertible systems, i.e. plants with a greater number of input than output variables, is presented in this paper. It is shown that such a control strategy can be particularly applied with regard to practical tasks. Henceforth, the Grünwald-Letnikov difference operator Δα of an assumed order α can be truncated without loss of generality. For that reason, the so-called pole-free perfect control formula can be used to minimize the essential drawback of the Grünwald-Letnikov approach engaged, so as to define the intriguing issue regarding the robust perfect control for non-integer-order right-invertible LTI discrete-time state-space systems. Simulation examples show that the presented method can compete with a classical stable-pole one, for which the actual systems described by a fractional-order model often correspond with an inconvenient asymptotic perfect control solution given by the unlimited original operator Δα. In the end, the possibility of employing of author’s nonunique right inverses dedicated to nonsquare MIMO system matrices is demonstrated, thus giving rise to the introduction of a new powerful tool for robustification of non-integer-order closed-loop perfect control plants as well.
Robust Output Control Algorithm for a Twin-Rotor Non-Linear MIMO System
