Tuning and Application of Integer and Fractional Order PID Controllers

Barbosa, Ramiro S.; Silva, Manuel F.; Machado, J. A. Tenreiro

http://hdl.handle.net/10400.22/8836

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Authors

Barbosa, Ramiro S.

Silva, Manuel F.

Machado, J. A. Tenreiro

Abstract(s)

Fractional calculus (FC) is widely used in most areas of science and engineering, being recognized its ability to yield a superior modeling and control in many dynamical systems. In this perspective, this article illustrates two applications od FC in the area of control systems. Firstly, is presented a methodology of tuning that gives closed-loop systems robust to gain variations. After, a fractional-order PID controller is proposed for the control of an hexapod robot with three dof legs. In both cases, it is demonstrated the system's superior performance by using the FC concepts.