Abstract
The control objective of this work is to levitate a magnetic disc in a desired position. For such a task, we use two controllers: the IO PID (Integer Order Proportional Integral Derivative) and the FO (Fractional Order) PID controllers. The IO PID controller is made fractional by substitution of the Laplace differentiator s and integrator s−1 of the IO PID algorithm by sa and s−e, respectively, where a and s are fractional numbers between 0 and 1. The IO and FO PID controllers are tested experimentally in a Maglev (Magnetic Levitation) Apparatus. According to the experimental results, the steady state error, the settling time, as well as the percent overshoot are improved employing the FO PID control system.
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