scholarly journals Design of Fractional Order Controllers Using the PM Diagram

Mathematics ◽  
2020 ◽  
Vol 8 (11) ◽  
pp. 2022
Author(s):  
Santiago Garrido ◽  
Concepción A. Monje ◽  
Fernando Martín ◽  
Luis Moreno
Keyword(s):  
Fractional Order ◽  
Transfer Functions ◽  
Dimensional Space ◽  
Color Code ◽  
Graphical Modeling ◽  
Tuning Method ◽  
Graphical Tool ◽  
Rational Systems ◽  
Third Dimension ◽  
The Cost

This work presents a modeling and controller tuning method for non-rational systems. First, a graphical tool is proposed where transfer functions are represented in a four-dimensional space. The magnitude is represented in decibels as the third dimension and a color code is applied to represent the phase in a fourth dimension. This tool, which is called Phase Magnitude (PM) diagram, allows the user to visually obtain the phase and the magnitude that have to be added to a system to meet some control design specifications. The application of the PM diagram to systems with non-rational transfer functions is discussed in this paper. A fractional order Proportional Integral Derivative (PID) controller is computed to control different non-rational systems. The tuning method, based on evolutionary computation concepts, relies on a cost function that defines the behavior in the frequency domain. The cost value is read in the PM diagram to estimate the optimum controller. To validate the contribution of this research, four different non-rational reference systems have been considered. The method proposed here contributes first to a simpler and graphical modeling of these complex systems, and second to provide an effective tool to face the unsolved control problem of these systems.

scholarly journals Fractional-Order PII1/2DD1/2 Control: Theoretical Aspects and Application to a Mechatronic Axis

2021 ◽  
Vol 11 (8) ◽  
pp. 3631
Author(s):  
Luca Bruzzone ◽  
Mario Baggetta ◽  
Pietro Fanghella
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Tracking Error ◽  
Experimental Tests ◽  
Maximum Torque ◽  
Control Effort ◽  
Tuning Method ◽  
Alternative Approach ◽  
Remarkable Reduction ◽  
Distributed Order

Fractional Calculus is usually applied to control systems by means of the well-known PIlDm scheme, which adopts integral and derivative components of non-integer orders λ and µ. An alternative approach is to add equally distributed fractional-order terms to the PID scheme instead of replacing the integer-order terms (Distributed Order PID, DOPID). This work analyzes the properties of the DOPID scheme with five terms, that is the PII1/2DD1/2 (the half-integral and the half-derivative components are added to the classical PID). The frequency domain responses of the PID, PIlDm and PII1/2DD1/2 controllers are compared, then stability features of the PII1/2DD1/2 controller are discussed. A Bode plot-based tuning method for the PII1/2DD1/2 controller is proposed and then applied to the position control of a mechatronic axis. The closed-loop behaviours of PID and PII1/2DD1/2 are compared by simulation and by experimental tests. The results show that the PII1/2DD1/2 scheme with the proposed tuning criterium allows remarkable reduction in the position error with respect to the PID, with a similar control effort and maximum torque. For the considered mechatronic axis and trapezoidal speed law, the reduction in maximum tracking error is −71% and the reduction in mean tracking error is −77%, in correspondence to a limited increase in maximum torque (+5%) and in control effort (+4%).

scholarly journals Comparative Study of Discrete Component Realizations of Fractional-Order Capacitor and Inductor Active Emulators

2018 ◽  
Vol 27 (11) ◽  
pp. 1850170 ◽  
Author(s):  
Georgia Tsirimokou ◽  
Aslihan Kartci ◽  
Jaroslav Koton ◽  
Norbert Herencsar ◽  
Costas Psychalinos
Keyword(s):  
Comparative Study ◽  
Fractional Order ◽  
High Performance ◽  
Continued Fraction ◽  
Transfer Functions ◽  
Operational Amplifiers ◽  
Current Conveyors ◽  
Continued Fraction Expansion ◽  
Current Feedback ◽  
Discrete Component

Due to the absence of commercially available fractional-order capacitors and inductors, their implementation can be performed using fractional-order differentiators and integrators, respectively, combined with a voltage-to-current conversion stage. The transfer function of fractional-order differentiators and integrators can be approximated through the utilization of appropriate integer-order transfer functions. In order to achieve that, the Continued Fraction Expansion as well as the Oustaloup’s approximations can be utilized. The accuracy, in terms of magnitude and phase response, of transfer functions of differentiators/integrators derived through the employment of the aforementioned approximations, is very important factor for achieving high performance approximation of the fractional-order elements. A comparative study of the accuracy offered by the Continued Fraction Expansion and the Oustaloup’s approximation is performed in this paper. As a next step, the corresponding implementations of the emulators of the fractional-order elements, derived using fundamental active cells such as operational amplifiers, operational transconductance amplifiers, current conveyors, and current feedback operational amplifiers realized in commercially available discrete-component IC form, are compared in terms of the most important performance characteristics. The most suitable of them are further compared using the OrCAD PSpice software.

Estimation of the Hankel Singular Values of Fractional-Order Systems

2009 ◽  
Author(s):  
Jay L. Adams ◽  
Robert J. Veillette ◽  
Tom T. Hartley
Keyword(s):  
Fractional Order ◽  
Dimensional Space ◽  
Ritz Method ◽  
Singular Values ◽  
Finite Dimensional Space ◽  
Fractional Order Systems ◽  
Norm Estimates ◽  
Finite Dimensional ◽  
Hankel Singular Values ◽  
Hankel Norm

This paper applies the Rayleigh-Ritz method to approximating the Hankel singular values of fractional-order systems. The algorithm is presented, and estimates of the first ten Hankel singular values of G(s) = 1/(sq+1) for several values of q ∈ (0, 1] are given. The estimates are computed by restricting the operator domain to a finite-dimensional space. The Hankel-norm estimates are found to be within 15% of the actual values for all q ∈ (0, 1].

Asymptotic magnitude Bode plots of fractional-order transfer functions

2019 ◽  
Vol 6 (4) ◽  
pp. 1019-1026 ◽  
Author(s):  
Ameya Anil Kesarkar ◽  
Selvaganesan Narayanasamy
Keyword(s):  
Fractional Order ◽  
Transfer Functions ◽  
Bode Plots

On the approximate inverse Laplace transform of the transfer function with a single fractional order

2020 ◽  
pp. 014233122097766
Author(s):  
Ali Yüce ◽  
Nusret Tan
Keyword(s):  
Transfer Function ◽  
Laplace Transform ◽  
Fractional Order ◽  
Analytical Solutions ◽  
Transfer Functions ◽  
Inverse Laplace Transform ◽  
Fractional Order Systems ◽  
Approximate Inverse ◽  
Classical Mathematics ◽  
Curve Fitting Method

The history of fractional calculus dates back to 1600s and it is almost as old as classical mathematics. Although many studies have been published on fractional-order control systems in recent years, there is still a lack of analytical solutions. The focus of this study is to obtain analytical solutions for fractional order transfer functions with a single fractional element and unity coefficient. Approximate inverse Laplace transformation, that is, time response of the basic transfer function, is obtained analytically for the fractional order transfer functions with single-fractional-element by curve fitting method. Obtained analytical equations are tabulated for some fractional orders of [Formula: see text]. Moreover, a single function depending on fractional order alpha has been introduced for the first time using a table for [Formula: see text]. By using this table, approximate inverse Laplace transform function is obtained in terms of any fractional order of [Formula: see text] for [Formula: see text]. Obtained analytic equations offer accurate results in computing inverse Laplace transforms. The accuracy of the method is supported by numerical examples in this study. Also, the study sets the basis for the higher fractional-order systems that can be decomposed into a single (simpler) fractional order systems.

scholarly journals Fractional-Order Modelling and Optimal Control of Cholera Transmission

2021 ◽  
Vol 5 (4) ◽  
pp. 261
Author(s):  
Silvério Rosa ◽  
Delfim F. M. Torres
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
Sensitivity Analysis ◽  
Fractional Order ◽  
Control Measures ◽  
Time Interval ◽  
Variable Order ◽  
Effectiveness Analysis ◽  
The Cost ◽  
Derivative Order

A Caputo-type fractional-order mathematical model for “metapopulation cholera transmission” was recently proposed in [Chaos Solitons Fractals 117 (2018), 37–49]. A sensitivity analysis of that model is done here to show the accuracy relevance of parameter estimation. Then, a fractional optimal control (FOC) problem is formulated and numerically solved. A cost-effectiveness analysis is performed to assess the relevance of studied control measures. Moreover, such analysis allows us to assess the cost and effectiveness of the control measures during intervention. We conclude that the FOC system is more effective only in part of the time interval. For this reason, we propose a system where the derivative order varies along the time interval, being fractional or classical when more advantageous. Such variable-order fractional model, that we call a FractInt system, shows to be the most effective in the control of the disease.

Fractional-Order Modeling and Simulation of Magnetic Coupled Boost Converter in Continuous Conduction Mode

2018 ◽  
Vol 28 (05) ◽  
pp. 1850061 ◽  
Author(s):  
Zirui Jia ◽  
Chongxin Liu
Keyword(s):  
Mathematical Model ◽  
Mathematical Models ◽  
Fractional Order ◽  
Transfer Functions ◽  
Circuit Simulation ◽  
Boost Converter ◽  
Averaged Model ◽  
Conduction Mode ◽  
State Average ◽  
Continuous Conduction Mode

By using fractional-order calculus theory and considering the condition that capacitor and inductor are naturally fractional, we construct the fractional mathematical model of the magnetic coupled boost converter with tapped-inductor in the operation of continuous conduction mode (CCM). The fractional state average model of the magnetic coupled boost converter in CCM operation is built by exploiting state average modeling method. In these models, the effects of coupling factor, which is viewed as one generally, are directly pointed out. The DC component, the AC component, the transfer functions and the requirements of the magnetic coupled boost converter in CCM operation are obtained and investigated on the basis of the state averaged model as well as its fractional mathematical model. Using the modified Oustaloup’s method for filter approximation algorithm, the derived models are simulated and compared using Matlab/Simulink. In order to further verify the fractional model, circuit simulation is implemented. Furthermore, the differences between the fractional-order mathematical models and the corresponding integer-order mathematical models are researched. Results of the model and circuit simulations validate the effectiveness of theoretical analysis.

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