This paper presents the application of a PDD1/2 fractional order controller to a purely inertial second order system, with the aim of deepening the study of the half-derivative contribution on control performances, in particular on settling time and settling energy of a step response. An approximation of the half-derivative term is proposed for a discrete time version of the controller. The choice is justified by the results obtained by an analysis of order and sampling time influence on accuracy and computation time of a discrete-time fractional derivative. Afterwards, simulation results, all obtained in dimensionless form, are extended to the physical case by means of experimental tests on a rotary axis. In the end it is shown that the half-derivative approximation still allows to improve the system dynamics if compared with a conventional PD controller.

Experimental analysis of a fractional-order control applied to a second order linear system / Corinaldi, David; Palpacelli, MATTEO CLAUDIO; Carbonari, Luca; Luca, Bruzzone; Palmieri, Giacomo. - STAMPA. - (2014), pp. 1-6. [10.1109/MESA.2014.6935535]

Experimental analysis of a fractional-order control applied to a second order linear system

CORINALDI, DAVID;PALPACELLI, MATTEO CLAUDIO;CARBONARI, LUCA;PALMIERI, GIACOMO
2014-01-01

Abstract

This paper presents the application of a PDD1/2 fractional order controller to a purely inertial second order system, with the aim of deepening the study of the half-derivative contribution on control performances, in particular on settling time and settling energy of a step response. An approximation of the half-derivative term is proposed for a discrete time version of the controller. The choice is justified by the results obtained by an analysis of order and sampling time influence on accuracy and computation time of a discrete-time fractional derivative. Afterwards, simulation results, all obtained in dimensionless form, are extended to the physical case by means of experimental tests on a rotary axis. In the end it is shown that the half-derivative approximation still allows to improve the system dynamics if compared with a conventional PD controller.
2014
9781479922802
9781479927722
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/202928
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