Abstract
This paper deals with the output regulation of nonlinear control systems in order to guarantee desired performances in the presence of plant parameters variations and external disturbances. The proposed control law structures are based on the fractional order PI (FOPI) and PID (FOPID) control schemes. By introducing the two-time-scale notions in the closed-loop system, the presented design methodology of fractional PID control guarantees desired transients. Then, the singular perturbations technique is used to analyse the closed-loop system properties and to get explicit expressions for evaluation of the controller parameters. The tuning of the controller parameters is based on a constrained optimisation algorithm. Simulation examples are presented to show the effectiveness of the proposed method.
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