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Design of fractional-order digital controllers
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The paper presents a novel method for the design of fractional-order digital controllers. The theory of fractional derivatives and integrals (FDI's) is still in a research stage but recent progress in the areas of chaos and fractal reveals promissing aspects for future developments. In the field of automatic control systems some preliminary work has been carried out but the results are restricted to the frequency domain. The algorithms proposed in the paper adopt the time domain, which makes them well suited for z-transform analysis and digital implementation. For a prototype mechanical system the control algorithm based on the new concepts reveals that classical P, I and D actions are, in fact, special cases of a more broad algorithm. In this line of thought, this study represents a first stage towards the development of motion control systems based on the theory of FDI's.