Abstract
AbstractThe PII1/2DD1/2 scheme is a possible approach to apply Fractional Calculus to control engineering, alternative to the most widespread PIλDµ scheme, in which the integral and derivative terms have respectively non-integer orders λ and µ. In the PII1/2DD1/2 scheme, an integral and a derivative term of order 1/2 are added to the first-order terms instead of replacing them with fractional-order ones. This paper discusses the application of the PII1/2DD1/2 scheme to position control of a rotor using a trapezoidal velocity profile, comparing it to the classical PID in terms of maximum and mean error and maximum torque. The results show that the proposed fractional-order controller reduces significantly the mean and maximum error with respect to the PID, with comparable maximum control output. In particular, the influence of the profile parameters is discussed.KeywordsFractional-order controlPII1/2DD1/2 controlPosition control
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