scholarly journals Analytical design of the fractional order controller and robustness verification

2021 ◽  
Vol 10 (1) ◽  
pp. 10
Author(s):  
Sateesh K. Vavilala ◽  
Vinopraba Thirumavalavan
Keyword(s):  
Transfer Function ◽  
Fractional Order ◽  
Direct Synthesis ◽  
Synthesis Method ◽  
High Gain ◽  
Level Control ◽  
Loop Transfer Function ◽  
Gain Margin ◽  
Tank System ◽  
Fractional Order Controller

<div data-canvas-width="397.2227827050999">This paper proposes a fractional order controller (FOC) for the level control problem of the coupled tank system, using the desired time domain specifications. The coupled tank system is used in the chemical industries for the storage and mixing of liquids. The FOC is designed analytically using the direct synthesis method. In the direct synthesis method, the Bode's ideal loop transfer function is chosen as the desired transfer function. Bode's loop transfer function has the advantages like robustness to system gain variations, constant phase and very high gain margin. Performance of the proposed controller is compared with the state of the art literature. Simulation results showed that the proposed controller has the least peak overshoot. The robust performance of the proposed controller is also the best. Robust stability of the system with the proposed controller is verified, and the system is found to be robustly stable.</div>

scholarly journals Fractional-Order Water Level Control Based on PLC: Hardware-In-The-Loop Simulation and Experimental Validation

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2928 ◽  
Author(s):  
Arkadiusz Mystkowski ◽  
Andrzej Kierdelewicz
Keyword(s):  
Fractional Order ◽  
Pid Control ◽  
Experimental Validation ◽  
Water Tank ◽  
Hardware In The Loop ◽  
Level Control ◽  
Integer Order ◽  
Gain Margin ◽  
Fractional Order Controller ◽  
Fractional Order Pid

An industrial-oriented water tank level control system with PLC- and Simulink-based fractional-order controller realizations is presented. The discrete fractional-order and integer-order PID implementations are realized via the PLC and Simulink simulator. The benefits of the fractional-order PID compared to the integer-order PID control are confirmed by the hardware-in-the-loop (HIL) simulations and experiments. HIL simulations are realized using real-time communication between PLC and Simulink. The fractional-order controller is obtained for a desired phase/gain margin and validated via HIL simulations and experimental measurements.

Tuning of PI λ Controllers Based on Gain and Phase Margins and its Application in Water Tank

2012 ◽  
Vol 263-266 ◽  
pp. 786-789
Author(s):  
De Jin Wang ◽  
Fu Qiang Zhang ◽  
Guo Juan Cai
Keyword(s):  
Fractional Order ◽  
Delay Systems ◽  
Phase Margin ◽  
Water Tank ◽  
Level Control ◽  
Stability Equation ◽  
Parameters Tuning ◽  
Gain Margin ◽  
Fractional Delay ◽  
Fractional Order Controller

This paper discusses the parameters tuning of fractional-order controller satisfying the desired gain-margin and phase-margin specifications in terms of a stability equation method applicable to fractional-delay systems. The tuning procedure is then applied to the level control of double water tank, which is modeled as a second-order transfer function with time-delay. The Matlab simulations and the experiments on the water tank device show the effectiveness of the tuning and the benefits of using fractional-order controllers.

scholarly journals The Study of Fractional Order Controller with SLAM in the Humanoid Robot

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Shuhuan Wen ◽  
Xiao Chen ◽  
Yongsheng Zhao ◽  
Ahmad B. Rad ◽  
Kamal Mohammed Othman ◽  
...  
Keyword(s):  
Transfer Function ◽  
Power Series ◽  
Fractional Order ◽  
Humanoid Robot ◽  
Power Series Expansion ◽  
Pi Controller ◽  
Fractional Order Pi Controller ◽  
Fractional Order Controller ◽  
Accumulated Error ◽  
Fopi Controller

We present a fractional order PI controller (FOPI) with SLAM method, and the proposed method is used in the simulation of navigation of NAO humanoid robot from Aldebaran. We can discretize the transfer function by the Al-Alaoui generating function and then get the FOPI controller by Power Series Expansion (PSE). FOPI can be used as a correction part to reduce the accumulated error of SLAM. In the FOPI controller, the parameters (Kp,Ki,  and  α) need to be tuned to obtain the best performance. Finally, we compare the results of position without controller and with PI controller, FOPI controller. The simulations show that the FOPI controller can reduce the error between the real position and estimated position. The proposed method is efficient and reliable for NAO navigation.

Simultaneous Compensation of the Gain, Phase, and Phase-Slope

2016 ◽  
Vol 138 (12) ◽  
Author(s):  
Vahid Badri ◽  
Mohammad Saleh Tavazoei
Keyword(s):  
Transfer Function ◽  
Fractional Order ◽  
Sufficient Conditions ◽  
Phase Margin ◽  
Phase Plot ◽  
Phase Slope ◽  
Loop Transfer Function ◽  
Sample Application ◽  
Arbitrary Frequency ◽  
Necessary And Sufficient

This paper deals with the problem of simultaneous compensation of the gain, phase, and phase-slope at an arbitrary frequency by using a fractional-order lead/lag compensator. The necessary and sufficient conditions for feasibility of the problem are derived. Also, the number of existing solutions (i.e., the number of distinct fractional-order lead/lag compensators satisfying the considered compensation requirements) is analytically found. Moreover, as a sample application, it is shown that the obtained results for the considered compensation problem are helpful in tuning fractional-order lead/lag compensators for simultaneously achieving desired phase margin, desired gain cross frequency, and flatness of the Bode phase plot of the loop transfer function at this frequency.

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