Performance comparison between a PID SIMC and a PD fractional controller

L. Angel; Jairo Viola

doi:10.1007/978-3-319-05582-4_36

Performance comparison between a PID SIMC and a PD fractional controller

L. Angel
, Jairo Viola

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

Abstract

This paper presents the development and design of a fractional PD controller for a second order system with a pole at the origin, which approximates the dynamic behavior of a servomotor used in the field of robotics. FOPD is contrasted with a PID SIMC controller to analyze the system robustness. Four tests are performed to evaluate the robustness of the system which are: plant gain variation, variable setpoint, external perturbation and adding a random noise. Results show that fractional controller is more robust than PID SIMC controller.

Original language	English
Title of host publication	Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications
Editors	Fakhri Karray, Eric T. Matson, Hyun Myung, Jong-Hwan Kim, Eric T. Matson, Peter Xu
Publisher	Springer Verlag
Pages	415-424
Number of pages	10
ISBN (Electronic)	9783319055817
DOIs	https://doi.org/10.1007/978-3-319-05582-4_36
State	Published - 2014
Event	2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013 - Denver, United States Duration: 18 Dec 2013 → 20 Dec 2013

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	274
ISSN (Print)	2194-5357

Conference

Conference	2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013
Country/Territory	United States
City	Denver
Period	18/12/13 → 20/12/13

Bibliographical note

Publisher Copyright:
© Springer International Publishing Switzerland 2014.

Keywords

FOPD
PID SIMC
fractional control

Access to Document

10.1007/978-3-319-05582-4_36

Cite this

Angel, L., & Viola, J. (2014). Performance comparison between a PID SIMC and a PD fractional controller. In F. Karray, E. T. Matson, H. Myung, J.-H. Kim, E. T. Matson, & P. Xu (Eds.), Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications (pp. 415-424). (Advances in Intelligent Systems and Computing; Vol. 274). Springer Verlag. https://doi.org/10.1007/978-3-319-05582-4_36

Angel, L. ; Viola, Jairo. / Performance comparison between a PID SIMC and a PD fractional controller. Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications. editor / Fakhri Karray ; Eric T. Matson ; Hyun Myung ; Jong-Hwan Kim ; Eric T. Matson ; Peter Xu. Springer Verlag, 2014. pp. 415-424 (Advances in Intelligent Systems and Computing).

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title = "Performance comparison between a PID SIMC and a PD fractional controller",

abstract = "This paper presents the development and design of a fractional PD controller for a second order system with a pole at the origin, which approximates the dynamic behavior of a servomotor used in the field of robotics. FOPD is contrasted with a PID SIMC controller to analyze the system robustness. Four tests are performed to evaluate the robustness of the system which are: plant gain variation, variable setpoint, external perturbation and adding a random noise. Results show that fractional controller is more robust than PID SIMC controller.",

keywords = "FOPD, PID SIMC, fractional control",

author = "L. Angel and Jairo Viola",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.; 2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013 ; Conference date: 18-12-2013 Through 20-12-2013",

year = "2014",

doi = "10.1007/978-3-319-05582-4\_36",

language = "Ingl{\'e}s",

series = "Advances in Intelligent Systems and Computing",

publisher = "Springer Verlag",

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editor = "Fakhri Karray and Matson, \{Eric T.\} and Hyun Myung and Jong-Hwan Kim and Matson, \{Eric T.\} and Peter Xu",

booktitle = "Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications",

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Angel, L & Viola, J 2014, Performance comparison between a PID SIMC and a PD fractional controller. in F Karray, ET Matson, H Myung, J-H Kim, ET Matson & P Xu (eds), Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications. Advances in Intelligent Systems and Computing, vol. 274, Springer Verlag, pp. 415-424, 2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013, Denver, United States, 18/12/13. https://doi.org/10.1007/978-3-319-05582-4_36

Performance comparison between a PID SIMC and a PD fractional controller. / Angel, L.; Viola, Jairo.
Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications. ed. / Fakhri Karray; Eric T. Matson; Hyun Myung; Jong-Hwan Kim; Eric T. Matson; Peter Xu. Springer Verlag, 2014. p. 415-424 (Advances in Intelligent Systems and Computing; Vol. 274).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

TY - GEN

T1 - Performance comparison between a PID SIMC and a PD fractional controller

AU - Angel, L.

AU - Viola, Jairo

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2014.

PY - 2014

Y1 - 2014

N2 - This paper presents the development and design of a fractional PD controller for a second order system with a pole at the origin, which approximates the dynamic behavior of a servomotor used in the field of robotics. FOPD is contrasted with a PID SIMC controller to analyze the system robustness. Four tests are performed to evaluate the robustness of the system which are: plant gain variation, variable setpoint, external perturbation and adding a random noise. Results show that fractional controller is more robust than PID SIMC controller.

AB - This paper presents the development and design of a fractional PD controller for a second order system with a pole at the origin, which approximates the dynamic behavior of a servomotor used in the field of robotics. FOPD is contrasted with a PID SIMC controller to analyze the system robustness. Four tests are performed to evaluate the robustness of the system which are: plant gain variation, variable setpoint, external perturbation and adding a random noise. Results show that fractional controller is more robust than PID SIMC controller.

KW - FOPD

KW - PID SIMC

KW - fractional control

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DO - 10.1007/978-3-319-05582-4_36

M3 - Ponencia publicada en las memorias del evento con ISBN

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SP - 415

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BT - Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications

A2 - Karray, Fakhri

A2 - Matson, Eric T.

A2 - Myung, Hyun

A2 - Kim, Jong-Hwan

A2 - Matson, Eric T.

A2 - Xu, Peter

PB - Springer Verlag

T2 - 2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

Y2 - 18 December 2013 through 20 December 2013

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Angel L, Viola J. Performance comparison between a PID SIMC and a PD fractional controller. In Karray F, Matson ET, Myung H, Kim JH, Matson ET, Xu P, editors, Robot Intelligence Technology and Applications 2 - Results from the 2nd International Conference on Robot Intelligence Technology and Applications. Springer Verlag. 2014. p. 415-424. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-05582-4_36

Performance comparison between a PID SIMC and a PD fractional controller

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Keywords

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